Hi,
I moved a simulation to a faster computer today (an Athlon X2) and
noticed that the simulation was only using about 50% cpu time of one
core. Additionally, the cpu usage went up considerably when I moved the
mouse around over the rendering window.
The first issue is directly related to the call Fl::wait(0.03) in
server/gui/Gui.cc line 102, i.e., replacing it with Fl::check() puts the
cpu usage to 100% of one core and runs the simulation alot faster.
I am unsure of the 2nd issue, though.
Are there any plans to multithread gazebo in the near future? It looks
like the rendering speed is hindered by the physics atm, although it
shouldn't depend on cpu usage that much.
Cheers,
Hendrik Skubch.
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