Isaac Sim Version
4.2.0
Operating System
Ubuntu 22.04
GPU Information
- Model: Nvidia RTX 6000 Ada Generation
- Driver Version: 550.144.03
Topic Description
Detailed Description
I’m trying to run a multidrone simulation using PegasusSimulator which builds on top of Isaac Sim to allow for PX4 or Ardupilot based drone simulations.
The performance when running the multiagent example inside the repository (2_px4_multi_vehicle.py) is around 55-60 FPS when standing. For my project we use 4 additional sensors. 3 cameras and 1 Lidar. I currently added two of the cameras and the Lidar:
- Camera 1: High resolution 4504x4504px camera
- Camera 2: Low resolution camera ~700x500px
- Ouster OS0 Lidar
Each sensor is implemented in its own Omnigraph and I use the ROS 2 Camera and ROS2 Lidar examples provided under “Isaac Utils” > “Common Omnigraph”.
After adding the sensors my framerate decreased to about 12 FPS with only one drone.
Steps to Reproduce
- Adapt the iris.usd inside PegasusSimulator to include sensors
- Start
1_px4_single_vehicle.pyor2_px4_multi_vehicle.py
Screenshots or Videos
Additional Information
What I’ve Tried
I have tried some changes suggested in Camera class from omni.isaac.sensor significantly reduces Sim performance but wasn’t able to achieve any meaningful improvements.
Related Issues
- Camera class from omni.isaac.sensor significantly reduces Sim performance
- Low FPS Issue with RTX Lidar and Camera Sensors on Vehicles in Isaac Sim
I would really appreciate some guidance on how to handle large amounts of sensors in a multiagent environment and I’d also be interested in different ways of handling the data collection as in general nothing binds me to using ROS for retrieving the data as long as I can record flights in simulation.