🖥️ Setup & Specifications
Hardware and software requirements to ensure reliable benchmarking.
💻 Hardware Requirements
Select the profile that matches your simulation needs.
| Component | Minimum (2D Lidar) | Recommended (3D/O3DE) |
|---|---|---|
| CPU | Quad-core (i5 or Ryzen 5) | 8-core+ (i7/i9 or Ryzen 7/9) |
| RAM | 8 GB | 32 GB+ |
| GPU | Integrated Graphics | NVIDIA RTX 3060+ / AMD RX 6600+ |
| Storage | 20 GB free space | 100 GB NVMe SSD |
GPU Requirement for O3DE
O3DE (Open 3D Engine) heavily relies on GPU raytracing (Vulkan/DX12). Use a dedicated NVIDIA or AMD card with updated drivers for best performance.
🐧 Software Environment
Operating System
| OS | Version | Support Status |
|---|---|---|
 |
22.04 LTS (Jammy) | ✅ Official Support |
 |
10 / 11 | ❌ Not Supported (Use WSL2) |
 |
All Versions | ❌ Not Supported |
Core Dependencies
- ROS 2 Humble: The middleware backbone.
- Gazebo Classic (11): Default lightweight simulator.
- Python 3.10: For the orchestrator and analysis tools.
🔌 Hardware Adaptation
If you are running benchmarks on a physical robot or specific hardware:
Sensor Configuration
Ensure your URDF defines these frames:
base_link: Center of the robotodom: Odometry framescan: 2D Lidar frame (if applicable)velodyne: 3D Lidar frame (if applicable)
Verifying TF Tree
Run ros2 run tf2_tools view_frames to generate a PDF of your transformation tree and verify connectivity.