Get realtimefactor through plugin (programmatically)

asked 2015-09-11 10:07:44 -0600

niall
96 ●7 ●10 ●15

Hi,

I've been trying to get the current realtime factor programmatically. I tried getting it through a world plugin but cannot find a get function, only for real time and Sim time. I know it's inside the /diagnostics topic and also am trying to subscribe to that topic through a plugin but it seems a little unhandy this way. Is there another method to get the real time factor programmatically?

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OK so my second method worked by creating a world plugin that subscribes to the gz topic ~/diagnostics and then publish this to a ROS topic but this obviously isn't ideal. Still interested in a solution where I can get it from for instance the WorldPtr somehow.

niall ( 2015-09-13 09:08:18 -0600 )edit

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answered 2015-09-14 02:22:41 -0600

evilBiber

881 ●3 ●7 ●18 http://ai.uni-bremen.de/

I don't know if there is a method to just receive it but:

the realtime factor is just deltaSimTime / deltaTealTime (averaged over a second or a few millis...)

creating such a plugin should be easy...

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Thanks evilBiber. Yes I figured such but as you say, averaged over a second, a few millis, this is different. I was hoping I could get the exact number the way Gazebo GUI calculates it. And figured, since Gazebo calculates it anyway, there would be a function for this.

niall ( 2015-09-14 03:29:05 -0600 )edit

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Asked: 2015-09-11 10:07:44 -0600

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Last updated: Sep 14 '15

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Get realtimefactor through plugin (programmatically)