Hi,

I would like to control the stepping functionality in Gazebo from ROS.

Is it possible to step a Gazebo simulation (single step or multiple steps) from ROS?

I realise it is possible to pause and un-pause a Gazebo simulation from ROS by calling the services /gazebo/pausephysics and /gazebo/unpausephysics, but the later will just put it in free running mode. I would like instead to tell gazebo to perform a limited number of steps.

Thanks