Co-simulation Simulink and Gazebo: Gazebo Custom Support block makes it very slow

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I have a trouble with the simulation speed of the Co-simulation between Simulink and Gazebo.
First of all, the simulation speed is close to the real-time without the Gazebo Custom Support block. However, I need to use this block to read the contact information.
Without the Gazebo Custom Support block: 1 sec simulation takes 3.5 sec (in real-time).
With the Gazebo Custom Support block: 1 sec simulation takes 15 sec (in real-time).
(sampling time = 0.01 sec)
Anyone has ideas or solutions to account for this issue?

Accepted Answer

Gaurav Bhosale
Gaurav Bhosale on 5 Jan 2022
Edited: Gaurav Bhosale on 5 Jan 2022
Hi Yunsik,
We are working on performance improvement. Further, as per our initial findings, if Gazebo and MATLAB/SImulink is running on same machine ( Ubuntu ) then we observed performance improvement. So, if you can install MATLAB on same Gazebo machine then you might get better performance.
Also, try with light version of Contact message. The Contact message has several fields but you might not required all fields, then you can create your own Contact customized message with only those required fields and subscribe that message with Gazebo Subscribe block.
Yunsik Jung
Yunsik Jung on 10 Jan 2022
Thank you for the quick response!
I will check the documentation to get an idea who to do it.
Thanks! And I really hope you and your team get the improvement soon.

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