Replacement of 'wb_robot_step()'?

asked 2015-11-19 02:28:16 -0600

kukyakya gravatar image

I'm migrating to gazebo from Webots and having troubles finding replacements.

In Webots, 'wb_robot_step()' controls the controller's update rate in 'simulation time'.

The code below prints "Hello World!" in every 50ms in simulation time when run.

while (1) {
  printf("Hello World!\n");
  // A
  wb_robot_step(50);
}

If I put some code in 'A' which takes more than 50ms (like drawing textures), it just slows down the simulation speed but does not alter the behavior.

But in gazebo, every controller runs in wall time not simulation time, so it changes the behavior of my robot.

How can I put some heavy-loaded function without affecting the simulation results?

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