Accelerated simulation in ROS

edit

Hi,

I use ROS (Python) with an external simulator which simulates the physics and feeds ROS with sensor data from simulated sensor models. This simulator controls the time stepping of ROS by publishing a time signal to the /clock topic. This works perfectly up to a certain real-time-factor, then the simulator updates the clock signal so fast that some ROS nodes can not finish their work and enter Rate.sleep() in time. This causes abnormal behavior.

I assume this is a problem that many have solved before me. Is there a good solution to ensure that the clock-signal waits for all nodes to finish their work before proceeding?

Thanks in advance!