Hello. First post on the forums, let me know if I made any mistakes.
Setup: Jetson AGX Orin 64GB, laptop with a RTXA4500, IsaacSim 4.2.0. The tutorial.
I am currently getting my hands in the IsaacManipulator pipeline and trying out the reference workflows for IsaacSim. Since my laptop doesn’t have the recommend 25GB VRAM to run the tutorial, I am using the Jetson AGX Orin to launch the ROS2 packages. IsaacSim is running on my laptop and the Jetson is connected via usb-c cable to the laptop, therefore the communication between the two devices are not over WIFI (I disabled the WIFI on the jetson before launching the launch file).
The problem I am having is as follow: when the IsaacSim scene is played without the IsaacROS packages executing, I have about 20 fps. The moment I run the launch file, the fps drops below 1. I tried the 4.5.0 version of IsaacSim and I have the same problem. I searched online for some similar performance issues and I did not find any relevant solutions. Maybe I skiped over some important detail.
I wish I had an explanation as to why but it is now working on my end without the issues mentioned above. I did not change anything. I’ll keep the post open in case someone finds something relating to this. Don’t hesitate to reply and have a good day.
I encountered the performance issues again. I did not touch any of the code or changed the setup steps of the tutorial.
If anyone got similar issues or have any idea as to why it is not working the way it is intended on my end, please feel free to share. Any help will be appreciated.
Have you checked the connection between your Jetson and your device? Maybe the FPS is related to bad communication between the device and Isaac Sim.
If you can use an Ethernet cable, that would be better.
Another test you can do is to run a rosbag and check for no issues in this case.
I tried to connect the Jetson and my laptop with an ethernet cable instead of the usb-a to usb-c cable and, unfortunately, I have the same performance problem.
I tried to record the messages sent from the Jetson with rosbag, but I’m not entirely sure of what to do with the recordings. I am not really familiar with rosbag and its functions. I’ll try to find a way to benchmark or get more info about what I gathered.
I’m pretty sure I found my issue. The reason for my loss of performance seems to be related to where ROS is publishing its messages.
Here’s the setup I am using: A Jetson AGX Orin 64GB connected at all times to a laptop via a CAT6 ethernet cable. The laptop has a A4500 GPU and is using Isaac Sim 4.5.0 .
Now onto my findings: If the Jetson is connected to the same Wifi network the laptop is connected to, it seems to priorities this avenue of communication over the LAN connection. If the Wifi connection of the Jetson is disabled with:
sudo nmcli radio wifi off
Before launching the Pick and Pace pipeline, I am able to get more decent simulation performance.
With a Wifi connection, the simulation is running at <1 fps.
Without a Wifi connection, the simulation is running between 2 and 5 fps, which is a huge uplift and makes it possible to do the tutorial.
More fps would be ideal. If there are any other ways to improve performance, please let me know.