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real time and sim time in gazebo [closed]

asked 2012-03-22 13:05:38 -0600

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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!!

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Closed for the following reason the question is answered, right answer was accepted by Ivan Rojas Jofre
close date 2013-05-12 15:00:47

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answered 2012-03-22 14:33:11 -0600

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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.

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Thanks!!!

Ivan Rojas Jofre gravatar imageIvan Rojas Jofre ( 2012-03-28 02:35:56 -0600 )edit

Has this been tested in Fuerte? I am not able to get anything except faster than real time behavior.

phil0stine gravatar imagephil0stine ( 2012-06-25 13:53:14 -0600 )edit

How much faster than realtime do you see @phil0stine? (I've noticed factors [0.97-1.32] )

SL Remy gravatar imageSL Remy ( 2012-10-10 08:25:49 -0600 )edit

I take that back.. when left to run long enough, the factors rise. Maybe it's time for a new question?

SL Remy gravatar imageSL Remy ( 2012-10-10 09:44:42 -0600 )edit

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)

phil0stine gravatar imagephil0stine ( 2012-10-12 17:11:33 -0600 )edit

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Asked: 2012-03-22 13:05:38 -0600

Seen: 1,141 times

Last updated: Mar 22 '12