Adds the ability to set the update rate of the simulation #264
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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>
Yadunund
requested changes
Oct 9, 2024
|
The default step size for rmf simulations is 0.01 though, not 0.001, does the command line argument also set the step size to 0.001 behind the scenes or would this make the simulation run at 10x RTF by default? |
Signed-off-by: Arjo Chakravarty <arjoc@google.com>
You are right this is my mistake, I've changed the defaults. |
luca-della-vedova
approved these changes
Oct 10, 2024
Yadunund
approved these changes
Oct 11, 2024
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New feature implementation
Implemented feature
This commit adds the ability to set the update rate of simulation to be faster than real time via the
update_rateoption.For instance if you want a 5x real time factor simulation running via CLI simply add the flags:
Note by default this sets gazebo's internal step size. Usually we have 100 steps per second of simulation, hence if we want 5x RTF we need to set update_rate:=500. Also note there is a bug in gazebo which also results in the ecm inspector showing the wrong "RTF" if I use the
-zflag.