Where is the real-time factor determined?

asked 2019-11-25 03:33:39 -0600

Tobias Blass gravatar image


I'm currently running an experiment where I need to run the simulation in real time (i.e., real-time factor = 1). For that reason, I'd like to either disable the automatic real-time factor adjustment or at least report a warning if the simulation cannot keep up.

Right now I'm monitoring the real-time factor with gz stats, but I feel this is not ideal, because it might miss temporary drops between two updates. Instead, I'd like to check this right where the adjustment happens. Could somebody point me to the place in the code where the real-time factor is adjusted? I'm not too familiar with the gazebo code base and wasn't able to find it.

(I'm using Gazebo 9)



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