Hi Lisa,

you can throttle physics by adding an <upateRate> tag to the physics block.
For example, see this
file<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/cturtle/gazebo_worlds/worlds/empty_throttled.world>

  <physics:ode>
    ...
    <updateRate>200</updateRate>
  </physics:ode>

if time step size is 1ms, throttling at 200 steps/second effectively
throttles simulation down to .2X real-time.

you can further reduce cpu load by disabling the simulator gui by providing
the '-g' flag when starting gazebo.  For example, see attached launch
script.

John

On Tue, Oct 19, 2010 at 8:02 PM, Lisa Miller <lizajane999@gmail.com> wrote:

> I'm working on some evolutionary robotics algorithms with Gazebo. My
> proof-of-concept code is not at all optimized and runs rather slowly. I'd
> like to slow down the sim time speed in Gazebo so that my robot doesn't run
> around brainless while the code is crunching. I can't seem to figure out
> exactly how to do this.
>
> Suggestions would be appreciated!
>
> Thanks,
> Lisa J. Miller
>
> Graduate Research Assistant
> Information and Computer Sciences Dept.
> University of Hawaii at Manoa
>
> lisa.miller@hawaii.edu
> lizajane999@gmail.com
>
>
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