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How can I change real time update rate and/or max step size of ros-gazebo physic from command line once ros-gazebo has started?

asked 2019-11-15 13:26:07 -0500

rahul gravatar image

Hi, I am launching Gazebo through ROS. I want to change the max step size and/or real-time update rate after launching Gazebo, preferably from the command line. I know that usually they are set as fixed in the .world file but how do I change that during run-time from the command line?


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answered 2019-11-16 09:50:06 -0500

Saimon gravatar image

Hi Rahul !

I never have tried using the command line to set the physics simulation properties of the world, always I had used the definition inside the ".world" to set the properties.

I know that using Gazebo with ROS (gazebo_ros package) you can find a service to set some properties (time_step, max_update_rate, gravity, etc). Then you can use "rosservice call /gazebo/set_physics_properties ..." and to check if finally, you can modify the simulation parameters that you wish.

I hope my answer can help you, let me know if you have a good result.

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Thanks, Saimon. Your proposed method worked fine for me.

rahul gravatar imagerahul ( 2019-12-03 14:21:22 -0500 )edit
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Asked: 2019-11-15 13:26:07 -0500

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Last updated: Nov 16 '19