use gazebo with walltime

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

yuLenDo
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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
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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 ( 2011-05-16 18:16:43 -0500 )edit

The gazebo mailing list on gazebo.willowgarage.com

nkoenig ( 2011-06-17 11:08:46 -0500 )edit

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answered 2011-05-13 19:29:57 -0500

JonW

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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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