Co-simulation Simulink and Gazebo: Gazebo custom support block makes simulation very slow

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Hi, all.
I have an issue related to the too slow simulation speed due to the Gazebo Custom Support block in Simulink for Co-simulation Simuink and Gazebo. (I used MATLAB and Gazebo on the same mashine, Ubuntu)
I imagined that the contact message has too many fields, so it makes the speed slow.
But, even I selected /gazebo/default/joint in the Gazebo Custom Support block, it makes the speed very slow.
Once I remove the block, the speed is normal.
Is this a known issue?
If it is, please let me know when it would be solved. This is very critical issue for my project, since I am using reinforcement learning. For instance, a policy is trained with a normal simulation speed. And if i try to train it further only adding the Gazebo Custom Support block to the Simulink model, the performance is changed greatly due to the slow speed. it may be not related to this issue, but it is still critical.
In addition, I attached the comparison between a inverse kinematics result vs. a inverse kinematics result with the Gazebo Custom Support block. (a dffierence is this block)
Even they have the same target joint angles, just adding the Gazebo Custom Support block makes the changes in the results.
Some joints' responses without the block are fast while other joints' responses without the block are slow.
Are they some kinds of bugs?

Accepted Answer

Gaurav Bhosale
Gaurav Bhosale on 1 Feb 2022
Hi Yunsik,
Which MATLAB version you are using?
Further, I didn't get the comparision part. Which two results you are comapring?
Are you comparing Gazebo MATLAB API vs Gazebo Simulink Subscribe block ?
Can you please add more details about experiment.
Yunsik Jung
Yunsik Jung on 5 Feb 2022
Hi, Gaurav.
It works! The reduced performance caused by this, "toolbox\robotics\robotsimulink\robotslgazebo\robotgazebolib.slx"!
In next version, it should be fixed.
Thank you very much!

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