Hi,
I have just commited (r6411) a change to support upper updating rates
limits .
Gazebo has a main loop that basically :
updatePhysics
updateRendering and updateGui
Now an upper limit of how many times per seconds these operations are called
can be set.
This is done with a new <updateRate> tag inside physics:ode or
rendering:ogre sections.
So for instance,
<physics:ode>
<stepTime>0.03</stepTime>
<updateRate>100</updateRate>
<gravity>0 0 -9.8</gravity>
<cfm>0.008</cfm>
<erp>0.2</erp>
</physics:ode>
<rendering:gui>
<type>fltk</type>
<size>800 600</size>
<pos>0 0</pos>
</rendering:gui>
<rendering:ogre>
<updateRate>15</updateRate>
<ambient>1.0 1.0 1.0 1.0</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
</rendering:ogre>
Will not update more than 100 times/second physics or 15 time/seconds the
visualization (FPS).
If those tags are not set (or set to 0), the system will update everything
at full speed (so nothing should change if this feature is not used)
IMHO, this will give much more flexibility to Gazebo.
--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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