I installed Open-RMF from source on Ubuntu 22.04 with Gazebo, aiming for a fully customizable setup. However, I’m facing two main issues:
High CPU Usage: All CPU cores hit ~90-100% during simulation, causing performance issues.
Robot Collisions: Tiny robot models frequently collide in Gazebo despite trajectory management by RMF.
Is there a documented hardware requirement for Open-RMF source install? Could these problems be due to system limits or config errors?
Hello @Poonam_Singh ! Are you able to share what your system setup (hardware) looks like, and were you running the rmf_demos maps or your own custom map? How many robots are being simulated?
I’ll share some other pointers regarding your points too,
I installed Open-RMF from source on Ubuntu 22.04 with Gazebo
Many improvements and optimizations have since been released to ROS 2 Jazzy and Gazebo Harmonic in Ubuntu 24.04, which should improve performance and stability.
Tiny robot models frequently collide in Gazebo despite trajectory management by RMF.
This is odd, the Open-RMF Gazebo slotcar plugin, have built-in logic to avoid hitting another slotcar plugin powered robot in Gazebo. Are you referring to the robot models colliding with each other, or colliding with the world? The trajectory is managed by navigation graphs drawn up using rmf_traffic_editor which outputs the building map file.
If you can provide instructions to minimally reproduce the collision, or video of it happening, we can help look into it further.
edit: apologies, I just saw your other thread, High CPU Utilization During Negotiation Phase in Open-RMF (Ubuntu 24.04, ROS 2 Jazzy) . I’m guessing we can continue conversations there.