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Publication on Step Completion?

asked 2016-03-18 16:33:12 -0600

xanderai gravatar image

We've written a custom Gazebo (6.5.1) plugin so that we can single-step through time. That is, we start gazebo -u paused and then proceed through time step-by-step. A step is taken each time our plugin receives an external message to take a step.

Currently, we wait to receive a WorldStats publication from gazebo to consider a step completed. However, it appears these messages may be sent at regular time intervals, regardless of the step having completed.

Does Gazebo published a message that's more suitable to knowing that the step has been completed?

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answered 2016-03-21 11:02:10 -0600

nkoenig gravatar image

There is a command line program that you could use:

gz world -s

In your plugin you can compare the iterations value to see if a step has occurred.

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Thanks. We were able to simplify our situation by either not caring about the `WorldStats` message and carrying on as usual, or have some guarantees by having the plugin deal with `iterations` value.

xanderai gravatar imagexanderai ( 2016-04-05 18:26:31 -0600 )edit
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Asked: 2016-03-18 16:33:12 -0600

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Last updated: Mar 21 '16