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?
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.
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
I believe setting real_time_factor has no effect. It'll be determined by the other two parameters.
Asked: 2017-05-01 10:45:38 -0600
Seen: 2,427 times
Last updated: May 21 '17
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anyone? please