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Querying simulation time in a plugin

asked 2013-04-07 23:14:38 -0500

walkerbrianpatrick gravatar image

Hello, New to Gazebo, and I am trying to check the simulation time as part of my robot operation. Any advice on how to get started?

I have tried creating a common::Time object, which can get the wall time, but it doesn't have access to simulation time.

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answered 2013-04-10 16:14:32 -0500

nkoenig gravatar image

Hello,

A plugin can access the World, which has a GetSimTime() function: http://gazebosim.org/api/1.5.0/classgazebo11physics11World.html#ab767393cb972e31d86a3b935e3eed569

You can also subscribe to ~/world_stats which publishes messages of type WorldStatistics: http://gazebosim.org/msgs/1.5.0/world_stats8proto.html

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Asked: 2013-04-07 23:14:38 -0500

Seen: 1,868 times

Last updated: Apr 10 '13