Hi
You can try force the physics engine to step in real time. Note that this
method requires modifying the gazebo source code, so use with care. It works
quite well for me.
in Simulator.cc, function MainLoop()
//declare 2 variables at the beginning
bool syncTime = false;
double cache = 0;
..
//and replace the following line in the while loop
World::Instance()->Update();
//with
this->step = World::Instance()->GetPhysicsEngine()->GetStepTime(); //resets
the step amount
if ( !syncTime){
this->startTime = this->GetWallTime() - simTime; // init real time to be
the same as sim time
syncTime = true;
}
double elapsed = this->GetRealTime() - this->simTime;
cache += elapsed;
// steps the ODE by time elapsed in real world since last update using fixed
time step
while(cache >= step)
{
World::Instance()->Update();
cache -= this->step;
}
this->step = elapsed - cache; // changes step amount so simTime gets
incremented correctly
cheers
Ian
ucamel wrote:
>
>
>
> Hello:
> This post is a bit old but it could help some people...
> I had the same proble and i fixed it changing the step time in the .cfg
> that you load to gazebo.
>
>
>
> Séverin Lemaignan wrote:
>>
>> I've more or less the same question in a wider context (hybrid
>> simulation): how can we constraint the simulator to stick to real time?
>>
>> Regards,
>> Severin Lemaignan
>>
>> Ziathon a écrit :
>>> Hello,
>>>
>>> I've been experimenting with turning the p2 robot. I've been trying to
>>> time
>>> it such that it stops exactly once it's done a 90 degree turn. The
>>> problem
>>> is calling sleep doesn't work because the simulation time rate is often
>>> different than the rate time really passes. Any recommendations on how
>>> to
>>> get around this?
>>>
>>> Thanks
>>
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>
>
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