Adds the ability to set the update rate of the simulation (#264)

* Adds the ability to set the update rate of the simulation This commit adds the ability to set the update rate of simulation to be faster than real time via the `update_rate` option. For instance if you want a 5x real time factor simulation running via CLI simply add the flags: ``` ros2 launch rmf_demos_gz office.launch.xml update_rate:=5000 ``` Note by default this sets gazebo's internal step size. Usually we have 1000 steps per second of simulation, hence if we want 5x RTF we need to set update_rate:=5000. Signed-off-by: Arjo Chakravarty <arjoc@google.com> * Rename parameter and fix update rate Signed-off-by: Arjo Chakravarty <arjoc@google.com> --------- Signed-off-by: Arjo Chakravarty <arjoc@google.com>
open-rmf · Oct 11, 2024 · 7229891 · 7229891
1 parent 2c4dc55
commit 7229891
Show file tree

Hide file tree

Showing 9 changed files with 17 additions and 1 deletion.
diff --git a/rmf_demos_gz/launch/airport_terminal.launch.xml b/rmf_demos_gz/launch/airport_terminal.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/airport_terminal.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="airport_terminal" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/battle_royale.launch.xml b/rmf_demos_gz/launch/battle_royale.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
   <arg name="use_traffic_light" default="false"/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/battle_royale.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="battle_royale" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/campus.launch.xml b/rmf_demos_gz/launch/campus.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/campus.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="campus" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/clinic.launch.xml b/rmf_demos_gz/launch/clinic.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/clinic.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="clinic" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/hotel.launch.xml b/rmf_demos_gz/launch/hotel.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/hotel.launch.xml">
@@ -15,5 +16,6 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="hotel" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 </launch>
diff --git a/rmf_demos_gz/launch/office.launch.xml b/rmf_demos_gz/launch/office.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/office.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="office" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/office_mock_traffic_light.launch.xml b/rmf_demos_gz/launch/office_mock_traffic_light.launch.xml
@@ -3,6 +3,7 @@
 <launch>
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/office_mock_traffic_light.launch.xml">

diff --git a/rmf_demos_gz/launch/simulation.launch.xml b/rmf_demos_gz/launch/simulation.launch.xml
@@ -5,6 +5,7 @@
   <arg name="map_name" description="Name of the rmf_demos map to simulate" />
   <arg name="use_crowdsim" default='0'/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <let name="world_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/$(var map_name).world" />
   <let name="model_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/models:$(env HOME)/.gazebo/models" />
@@ -17,7 +18,7 @@
   <let name="gz_headless" unless="$(var headless)" value="" />
 
   <!-- TODO(luca) Remove the manual concatenation of GZ_SIM_RESOURCE_PATH and just use environment hooks -->
-  <executable cmd="gz sim --force-version $(var gazebo_version) $(var gz_headless) -r -v 3 $(var world_path)" output="both">
+  <executable cmd="gz sim --force-version $(var gazebo_version) $(var gz_headless) -r -v 3 $(var world_path) -z $(var sim_update_rate)" output="both">
     <env name="GZ_SIM_RESOURCE_PATH" value="$(env GZ_SIM_RESOURCE_PATH):$(var model_path)" />
     <env name="MENGE_RESOURCE_PATH" value="$(var menge_resource_path)"/>
   </executable>

diff --git a/rmf_demos_gz/launch/triple_H.launch.xml b/rmf_demos_gz/launch/triple_H.launch.xml
@@ -3,6 +3,7 @@
 <launch>
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/triple_H.launch.xml">
@@ -13,6 +14,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="triple_H" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>