Starling Multi-Vehicle KinD Performance

[mhl787156]

KinD Multi-vehicle performance is awful. No idea if it is KinD, Docker, ROS2, SITL or Gazebo causing it. Observed problems include:

• Windows, WSL 8Gb Ram allocation, ends up using up all RAM and crashing computer. Reducing WSL allocation to 6GB let it run okay. No idea what might be using up the remaining RAM on the windows side.
• Requires at least 6Gb RAM at last test for two vehicles. Each vehicle is 2Gb RAM more or less (on linux).
• On initial simulator startup, the models for the vehicles may or may not visually load in. Checking the models tab in gzweb shows that they are there. Usually a simulator restart can solve this problem.
• Opening GZweb browser tab appears to increase the load on the CPUs by 2. Base load without GZweb running is about 7. Can recommend connecting to, and opening gzweb on another machine across the network (or running on machine with GPU enabled).

In theory gives minimum specs of 8+ threads/cores and 8Gb RAM on Linux, or 16Gb RAM on Windows, GPU highly recommended.

Biggest question is why it seems so unreliable upon startup. Some sort of concurrency issue?