CPU Multithreading in Gazebo Harmonic

[YanningDai]

Description

Hi! I'm simulating a crawling robot in Gazebo Harmonic that consists of a main body with six same robotic arms attached. Each arm is implemented as a separate model with the same control plugins. While testing a single arm works well, the simulation becomes significantly slow when all arms are placed in the same world. Upon monitoring CPU performance, I noticed that ”gz sim server“ is running almost entirely in a single thread. Is it possible to distribute the model computations across different threads?

Additionally, I found that Gazebo Classic has a parallel physics feature (https://classic.gazebosim.org/tutorials?tut=parallel&cat=physics). Is there an equivalent functionality in the latest Gazebo version?

Any suggestions would be greatly appreciated!

Environment

Gazebo Sim 8 Harmonic
Ubuntu 24.04.1 LTS