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Hi everyone!!!
I have little problem with Gazebo. How I can make the sim_time equal to real time?, in another words, How I can do for what 1 seconds in sim_time equal to 1 seconds in real time?
Thanks!!
In your *.world file, add an <updateRate/> tag under <physics:ode> and set its value to -1, for example:
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
<quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
<updateRate>-1</updateRate>
</physics:ode>
That should throttle sim time to real time.
Has this been tested in Fuerte? I am not able to get anything except faster than real time behavior.
How much faster than realtime do you see @phil0stine? (I've noticed factors [0.97-1.32] )
Interestingly, I can get gazebo empty.world to set sim_time to real_time when update_rate is greater than zero, but not when it's less than zero (it runs about 10x in that case)
Asked: 2012-03-22 13:05:38 -0600
Seen: 2,309 times
Last updated: Mar 22 '12
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