I have recently been trying to develop a plugin for Gazebo that achieves real-time generation of scenes such as those depicted in the following image:
Essentially, I require a large amount of these images (in order of the tenths of thousands) and so far I can generate about one per second, which is too slow, each involving spawning and removing models with custom textures, and acquiring image data.
Furthermore, it seems that the simulation slows down with time, even though the objects themselves seem to no longer be present in the World.
I understand Gazebo is not the ideal platform to achieve this, yet this research is a preliminary step in what I hope develops to be a useful open-source tool for dataset generation for all kinds of robots.
Right now we are attempting to improve our program, but I fear Gazebo is not suitable for such an application, and performance may be underwhelming.
So, I’d like to hear some feedback regarding whether this seems feasible at all, or if I should drop it and experiment with an engine such as Unity.
I’m an assistant researcher at Vislab-ISR, a systems and robotics lab in Portugal, and am currently working on my master’s thesis.
Thanks in advance.