# Revision history [back]

Thanks for the suggestions. I am using the following settings:

<physics name='default_physics' default='0' type='ode'>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.0005</max_step_size>
<real_time_factor>0.3</real_time_factor>
</physics>


I need the step size to be 0.0005 or better to synchronize the sensors correctly. I have changed the real_time_factor both up and down, and it does not help.

The example at: http://sdformat.org/spec?ver=1.6&elem=physics shows the following,

  <ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.4</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>1</erp>
<contact_max_correcting_vel>0</contact_max_correcting_vel>
<contact_surface_layer>0</contact_surface_layer>
</constraints>
</ode>


but I can't find documentation on what the tags mean.

Related to this problem, I ran the above sim for about 14 hours, generating about 100 frames. At that point the sim died with the following warning messages:

[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/local/info, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/physics/contacts, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/info, deleting message. This warning is printed only once. Killed

What is going on?

Thanks for the suggestions. I am using the following settings:

<physics name='default_physics' default='0' type='ode'>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.0005</max_step_size>
<real_time_factor>0.3</real_time_factor>
</physics>


I need the step size to be 0.0005 or better to synchronize the sensors correctly. I have changed the real_time_factor both up and down, and it does not help.

The example at: http://sdformat.org/spec?ver=1.6&elem=physics shows the following,

  <ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.4</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>1</erp>
<contact_max_correcting_vel>0</contact_max_correcting_vel>
<contact_surface_layer>0</contact_surface_layer>
</constraints>
</ode>


but I can't find documentation on what the tags mean.

Related to this problem, I ran the above sim for about 14 hours, generating about 100 frames. At that point the sim died with the following warning messages:

[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/local/info, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/physics/contacts, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/info, deleting message. This warning is printed only once. Killed

What is going on?

Thanks As usual, the answer for the suggestions. my immediate problem was simple.

I am using the following settings:

changed the sensor type to "gpu_ray" and the physics tags to the following. 
<sdf version="1.6">
<physics name='default_physics' default='0' type='ode'>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.0005</max_step_size>
<real_time_factor>0.3</real_time_factor>
type="ode">
<max_step_size>0.05</max_step_size>
<real_time_factor>0.2</real_time_factor>
<real_time_update_rate>1</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>2</iters>
<sor>1.4</sor>
</solver>
<constraints>
<cfm>0</cfm>
<erp>1</erp>
<contact_max_correcting_vel>0</contact_max_correcting_vel>
<contact_surface_layer>0</contact_surface_layer>
</constraints>
</ode>
</physics>


I need the step size </sdf>

With the changes, everything worked fine, and the entire simulation executed in about 5 minutes (as opposed to be 0.0005 or better to synchronize the sensors correctly. I have changed the real_time_factor both up and down, and than one day before it does not help.

Related to this problem, I ran the above sim for about 14 hours, generating about 100 frames. At that point the sim died with the following warning messages:

[Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/local/info, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/physics/contacts, deleting message. This warning is printed only once. [Wrn] [Publisher.cc:141] Queue limit reached for topic /gazebo/animated_box_world/pose/info, deleting message. This warning is printed only once. Killed

What is going on?

crashed).