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use gazebo with walltime

asked 2011-05-09 04:55:22 -0500

yuLenDo gravatar image

Hi,

I would like to use gazebo with walltime, so that the movement of the robot is exactly the same like in the real world. For example I used the trajectory_msgs/JointTrajectory message and set up one trajectory point with [..].time_from_start = ros::Duration(10.0), but the robot's arm moved much faster. How can this be done?

thanks

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answered 2011-05-16 06:49:17 -0500

hsu gravatar image

with updateRate less than zero Gazebo tries to match simulator::GetSimTime() + simulator::GetPauseTime() with simulator::GetRealTime(). If you are seeing "simulation speedup to catchup", that means GetPauseTime() is not returning the correct value. Can you reproduce the behavior?

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OK, I will see if I can do it reproducibly. Incidentally where is a good place to post queries about gazebo internals?
JonW gravatar imageJonW ( 2011-05-16 18:16:43 -0500 )edit
The gazebo mailing list on gazebo.willowgarage.com
nkoenig gravatar imagenkoenig ( 2011-06-17 11:08:46 -0500 )edit
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answered 2011-05-13 19:29:57 -0500

JonW gravatar image

According to this webpage setting the <updaterate> tag in the physics section of your gazebo world file to a negative number will cause the simulation to try to run in real time. This seems to be based on some form of timestamp mechanism - I have noticed on occasion that if my simulation is paused and then restarted the sim will run at a higher rate to catch up.

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Asked: 2011-05-09 04:55:22 -0500

Seen: 389 times

Last updated: May 16 '11