We are working according:
[Tutorial on thread-island](http://gazebosim.org/tutorials?tut=parallel&cat=physics#IslandThread) and with the repositories suggested by Ying Lu as answered to: [this question](http://answers.gazebosim.org/question/17243/parallel-physics-gazebo-770-ros-kinetic-ubuntu-16/?answer=17248#post-id-17248)
Our goal is to reach real time factor of 1 in our simulation.
We have the following computer:
HP EliteDesk 800 G3 TWR (Y1B39AV)
16GiB System Memory Intel(R) Core(TM) i7-7700K CPU @ 4.20GHz (x8)
And the following graphical card: **GeForce GTX 1080**
We are originally interested with running our simulation with two island_threads.
We checked the following 3 configurations:
1. gazebo --verbose -o unthrottled0 gazebo/worlds/dual_pr2.world
2. gazebo --verbose -o unthrottled1 gazebo/worlds/dual_pr2.world
3. gazebo --verbose -o unthrottled2 gazebo/worlds/dual_pr2.world
To our surprise:
1. unthrottled 0 ==> Real Time factor is around 0.95
2. unthrottled 1 ==> Real Time factor is around 0.41 !!!!!!
3. unthrottled 2 ==> Real Time factor is around 0.62 !!!!!!
To be honest, with a much less good computer we got good results regarding real time factor (from 0.60 without to 0.75 with 2 islands) so we had a lot of expectations toward the strong station.
I am attaching a screen capture of gazebo with a filtered htop.
[unthrottled0.jpeg](/upfiles/15100545496575103.jpeg)
[unthrottled2.jpeg](/upfiles/15100547502461865.jpeg)
Obviously, we are doing something wrong.... Do you have an idea?
Thanks a lot
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