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Does `lockstep` argument only affect sensor plugin?

asked 2021-01-26 01:37:01 -0500

jianwu gravatar image

Gazebo offers an option, --lockstep to update sensor readings using the exactly upate_rate defined by sensor plugin description. Does other kinds of plugins, such as world or model plugin, can be affected by this option?

I think it can. Because these plugins also define theOnUpdate method, which in my opinion it is affected by the upate_rate parameter.

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answered 2021-01-26 17:56:28 -0500

nkoenig gravatar image

A plugin may or may not use the update event. A plugin could, for example, spin up a thread and perform asynchronous operations. You'll have to look at each plugin that you're using to see if it use the update event.

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Thank for your answer! So you mean that if a plugin has the update event, it will be affected by --lockstep argument?

jianwu gravatar imagejianwu ( 2021-01-27 02:50:44 -0500 )edit

Yes, the lockstep will control when Gazebo takes a simulation step, which in turn affects when events are triggered.

nkoenig gravatar imagenkoenig ( 2021-01-27 08:10:29 -0500 )edit

Thanks a lot.

jianwu gravatar imagejianwu ( 2021-01-27 19:56:21 -0500 )edit
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Asked: 2021-01-26 01:37:01 -0500

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Last updated: Jan 26