FPS drops to ~5 when Autoware starts

[ahmedius2]

Hello, thanks for this great project. I run Autoware on Jetson AGX Orin and AWSIM on a Ubuntu 24.04 PC equipped with i7-11700KF + RTX 3080 + 64 GB DRAM. I compiled ROS2 Humble from the source to run on Ubuntu 24.04.

The AWSIM runs smoothly with 60 FPS when alone. However, when I run Autoware on Jetson and connect them with the PC via ROS2 (Cyclone DDS Unicast), the FPS of AWSIM drops to 3-7. The car can drive autonomously fine, but why does the FPS drop like this?

[ahmedius2]

Update: The same happens on another PC having Ubuntu 22.04 and Titan Xp. Please let us know why the FPS gets limited when the simulation runs together with Autoware.