On my machine, the ROS-navigation-example “rtx_lidar_carter_warehouse_navigation” runs with 30 FPS but only around 0.5 RTF. In multiply posts here it is mentioned that Isaac optimizes to run in real-time. My machine runs an RTX 4080. I thought that would be sufficient.
Intel(R) Core™ i9-10900X CPU @ 3.70GHz
NVIDIA GeForce RTX 4080 (Driver Version: 550.54.14; CUDA Version: 12.4)
RAM 64GB DDR4
Ubuntu 20.04
Isaac 2023.1.1
Is this the tutorial you’re following? How are you checking the RTF as 0.5?
https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_navigation.html#nav2-with-nova-carter-in-small-warehouse
Thank you for your reply. It is actually the ROS1 tutorial: https://docs.omniverse.nvidia.com/isaacsim/latest/ros_tutorials/tutorial_ros_navigation.html in the RTX-Lidar-Version and I am checking the RTF by dividing the real-time by the simulation-time (i.e. ROS-time)
Can you tell me whether this performance was to be expected?