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Rate limiting in Gazebo 1.0

gazebo

asked 2012-04-03 18:40:44 -0500

JonW

586 ●11 ●18 ●24

updated 2014-01-28 17:11:51 -0500

ngrennan
1 ●1 ●1

I have been using earlier releases of gazebo with some success. I'm currently experimenting with the 1.0 -RC3 version of gazebo to be included with fuerte, but I'm having trouble with rate limiting.

In the earlier versions placing the <updateRate> tag with a negative number would lock the simulation to real time. A bit of investigation into the new system shows that adding an update rate to the ode like this:

<ode update_rate="1.0">

should limit the frame rate. Despite experimenting with the values my rather simple simulation is still running at many times real time.

Any suggestions?

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answered 2012-04-07 08:51:33 -0500

hsu
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It's an attribute under <physics>, see the SDF documentation for Physics elements, for example, the empty world in gazebo is rate limited to 1000Hz with 1ms time step size, so effectively should track real-time.