Hi all: I am working with mobile manipulator in simulations for which I am using ROS electric, gazebo, octomap_mapping (version sometime released in June 2012), and my ubuntu OS is 10.10. Point cloud data for the octomap comes from Kinect sensor. I have noticed that my gazebo simulation is slower as a result of octomap.
for e.g. if I run mobile base in simulation with the help of teleop_keyboard, then without the launch of octomap_server node, it runs ok as expected, however as I launch the octomap_server node and again play with teleop_keyboard then it slows down a lot. Same thing with arm trajectory execution in simulation with or without octomap_server. So gazebo is not an issue, slowness comes from octomap.
Is there anyway I can speed up my simulation while using octomap_mapping for 3D mapping.
Thanks in advance.
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