Layer-by-layer performance study of a TurtleBot3 Gazebo 11 simulation on ROS Noetic (WSL2): headless rendering cut CPU ~94%→~46% at RTF 1.00, Nodelets halved /scan latency, and chrt/taskset plus single-thread OpenBLAS raised RTF 0.68→1.03 under load.
python robotics simulation ros gazebo performance-optimization linux-scheduling turtlebot3 nodelet wsl2 ros-noetic real-time-factor
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Updated
Oct 12, 2026 - Python