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Slow simulation with high number of agents #3

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sasilva1998 opened this issue May 29, 2024 · 0 comments
Open

Slow simulation with high number of agents #3

sasilva1998 opened this issue May 29, 2024 · 0 comments

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@sasilva1998
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Hi, so far I have tested this package and works very well. I really appreciate the effort.

Currently, I am trying to run a simulation with a high number of social agents (>60), however, the simulation becomes very slow, dropping the update of the social agents to one third of the desired frequency. Curiously, this is a problem I haven't encountered before with the implementation for ROS1.

I have tried to find where is the change between the ROS1 and ROS2 implementation that has made this change. Also I have noticed that when running the simulation, PedsimROS does not use much of the CPU in ROS2 compared to ROS1. When running the same simulation in ROS1, it consumes more CPU but the simulation is smoother and faster.

Is there any reason why this could happen? Could it be a change in the wrapper for pedsim or the way that ROS2 run the nodes? Or is there any way I could make the simulation faster by consuming more of the CPU?

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