Significantly lower RTF when state logging enabled after upgrading to gazebo 8.3

[osrf-migration]

Original report (archived issue) by Deanna Hood (Bitbucket: d_hood).

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State logging always lowers RTF a bit for ARIAC, but the latest releases have significantly impacted it.

Before, gazebo 8.2:

• without state logging: RTF 0.95

roslaunch osrf_gear sample_environment.launch

• with state logging: RTF 0.65

roslaunch osrf_gear sample_environment.launch state_logging:=true

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After, gazebo 8.3 or gazebo 7.11:

• without state logging: RTF 0.91
• with state logging: RTF 0.09

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I am aware of https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2608 that was merged during the latest release cycle, but I thought that was just targeting the gz log --echo tool, not logging itself. The lower RTF might be an unintended side effect of that PR, or from a different one altogether.

[osrf-migration]

Original comment by Deanna Hood (Bitbucket: d_hood).

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Most of my issues are specific to logging with the UR10 for ARIAC. I've confirmed that this effect occurs even without a ur10 in the environment, just from other models moving around.

[osrf-migration]

Original comment by Jordan Liviero (Bitbucket: jliviero).

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We have seen the same issue running the empty_world.launch file from gazebo_ros. Again, it seems to be tied to robot movement specifically, and disabling logging "fixes" it.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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This is extremely bad!

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• changed priority from "major" to "critical"

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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The problem was introduced on commit 3c47f4d. Calling sdf::initFile at every iteration is a really bad idea.

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Pull request #2885 should solve this issue.

While investigating I ran into issue #2428... Pull request #2608 created a lot of problens 😕

[osrf-migration]

Original comment by Deanna Hood (Bitbucket: d_hood).

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• changed state from "new" to "resolved"

fixed by https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2885 thank you