Low real time factor on good computer

Hi,

I’m trying Sphinx on a very good computer that has these ressources :

  • CPU i9-9940X 3.30GHz 14 Core
  • GPU RTX 2080 11Go
  • 32Go DDR

I’m under Ubuntu 18.04 with ubuntu-drivers-440 installed.

Unfortunately, on parrot-ue-empty, without any action (no take off, etc), I have a very low realtime factor , around 58% :

I can see using nvidia-smi that UE and gazebo are both using my GPU :

nvidia-smi
Thu May  5 17:32:28 2022       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 440.33.01    Driver Version: 440.33.01    CUDA Version: 10.2     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|===============================+======================+======================|
|   0  GeForce RTX 208...  On   | 00000000:B3:00.0  On |                  N/A |
| 31%   46C    P0    60W / 250W |   2473MiB / 11018MiB |     37%      Default |
+-------------------------------+----------------------+----------------------+
                                                                               
+-----------------------------------------------------------------------------+
| Processes:                                                       GPU Memory |
|  GPU       PID   Type   Process name                             Usage      |
|=============================================================================|
|    0      1267      G   /usr/lib/xorg/Xorg                            18MiB |
|    0      1314      G   /usr/bin/gnome-shell                          73MiB |
|    0      5269      G   /usr/lib/xorg/Xorg                            18MiB |
|    0      5402      G   /usr/bin/gnome-shell                         254MiB |
|    0     13560    C+G   ...e4-empty/Empty/Binaries/Linux/UnrealApp  1837MiB |
|    0     13991      G   gzserver                                       9MiB |
|    0     18984      G   /usr/lib/xorg/Xorg                           142MiB |
|    0     19077      G   /usr/bin/gnome-shell                         106MiB |
+-----------------------------------------------------------------------------+

Any idea to check why it is so slow ?

Best,
Clément

Hello,

The RT factor should not be this low with a RTX 2080. Mine is above 90% with a GTX 980.
Have you tried the latest driver: nvidia-driver-510?

Note that the main bottleneck issues are always due to cameras. The more cameras you visualize, the lower your RT factor will be.