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what is the ros gazebo sim time to real time conversion?

asked 2022-08-06 19:31:10 -0600

distro gravatar image

If I have ros melodic and I have a .world file which has real_time_update_rate of 1000. what is that value in camparison to real time? is it faster, slower, the same? what's the conversion here?

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answered 2022-08-07 09:00:51 -0600

Mike Scheutzow gravatar image

The upper bound on Real Time Factor is calculated by max_step_size * real_time_update_rate. The default values are 0.001 and 1000, which means gazebo will run in real time (=1.0) if your cpu is strong enough. This value can be used to intentionally slow down the simulation, or to permit the simulation to run faster than real time. .

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@Mike Scheutzow So if max_step_size*real_time_update_rate=3, that means the simulation is 3 times faster than real time?

distro gravatar image distro  ( 2022-08-07 22:19:41 -0600 )edit

Yes, but only if your cpu can deliver it.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-08-08 06:06:24 -0600 )edit

@Mike Scheutzow Do I have to change publishing and subscriber rates if I try to make sim time faster?

distro gravatar image distro  ( 2022-08-10 03:10:44 -0600 )edit

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Asked: 2022-08-06 19:31:10 -0600

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Last updated: Aug 07