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max_step_size, real_time_factor and real_time_update_rate

asked 2017-05-01 10:45:38 -0500

XaserIII gravatar image

I'm confused why you can specify all three of them in the world file. As far as I understand they are linearly dependent.

real_time_factor = max_step_size * real_time_update_rate

so if i set real_time_update_rate = 0 (to make gazebo run as fast as possible, what should i set real_time_factor to?

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anyone? please

XaserIII gravatar imageXaserIII ( 2017-05-10 12:52:37 -0500 )edit

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answered 2017-05-21 06:41:43 -0500

XaserIII gravatar image

I actually crawled the code to check this - real_time_factor is actually not used at all in the code (just set from the .world file and physics message, but never read - at least in the included physics engines, like ODE) and real_time_update_rate determines how long gazebo will sleep between simulation steps if > 0.

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answered 2017-05-16 09:08:10 -0500

blevesque gravatar image

The real_time_factor in simulation will reach max_step_size*real_time_update_rate. If you want make the simulation run as fast as possible, set real_time_update_rate to -1

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answered 2017-05-10 13:49:01 -0500

iche033 gravatar image

I believe setting real_time_factor has no effect. It'll be determined by the other two parameters.

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That was my experience as well.

SprGrf gravatar imageSprGrf ( 2017-05-16 10:38:24 -0500 )edit
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Asked: 2017-05-01 10:45:38 -0500

Seen: 217 times

Last updated: May 21