Extremely low FPS when running manual_control.py

[AntaresFeng]

When I launch CARLA in Docker and run manual_control.py in client, the viewport stays at ~2 FPS even though the HUD shows server & client FPS both >60. In synchronous mode, both FPS drop to ~2.

Both server and client CPU/GPU utilizations stay well far below 100 %, except one server core is pinned at 100 %.

Server Setup:

• OS: Ubuntu 20.04.4 LTS x86_64
• CPU: 12th Gen Intel i7-12700KF (20) @ 4.900GHz
• GPU: NVIDIA GeForce RTX 3080
• Memory: 31949MiB

Client Setup:

• OS: Windows 10 22H2
• CPU: 10th Gen Intel i7
• GPU: NVIDIA GeForce RTX 2070

Docker command:

docker run \
    --runtime=nvidia \
    --net=host \
    --env=NVIDIA_VISIBLE_DEVICES=all \
    --env=NVIDIA_DRIVER_CAPABILITIES=all \
    carlasim/carla:0.9.16 bash CarlaUE4.sh -RenderOffScreen -nosound -quality-level=Low -benchmark -fps=20

I saw the “UE editor low FPS in background” issue, but it doesn’t apply to the Docker build.

Already tried:

• switched to Town02
• stripped unimportant layers
• kept only RGB + LogDepth sensors
• dropped resolution to 640x360

No substantial improvement: 2 => 6-7 FPS.

[AntaresFeng]

I figured it out—it's a network bandwidth issue. The CARLA server seems to transmit uncompressed image streams, which demands extremely high bandwidth.