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Hi,

I want to use the real time simulate ,I know launch the world with ros by include a world .and I have set the physics as follow (empty_world.launch)

<sdf version="1.5"> <world name="default"> <include> <uri>model://sun</uri>

</include>
<!-- A ground plane -->
<include>
  <uri>model://ground_plane</uri>
</include>
   ***<physics type='ode'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>***

</world> </sdf>

the question is that when Iaunch the world only ,the real time factor(RTF)can be 1,but when I spawn my own urdf or xacro robot ,the RTF while be changed .

I don't know how to handle it.

I use gazebo 7 ros kinetic the launch file as follow

<launch>

<arg name="paused" default="true"/> <arg name="use_sim_time" default="false"/> (I try to set true and false didn't work) <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="debug" value="$(arg debug)"/> <arg name="gui" value="$(arg gui)"/>

<arg name="paused" value="$(arg paused)"/> <arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="headless" value="$(arg headless)"/> </include> <node name="tf_footprint_base" pkg="tf" <="" p="">

type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model test_platform -param robot_description"/> </launch>

Hi,

I want to use the real time simulate ,I know launch the world with ros by include a world .and I have set the physics as follow (empty_world.launch)

<sdf version="1.5"> <world name="default"> <include> <uri>model://sun</uri>

</include>
<!-- A ground plane -->
<include>
  <uri>model://ground_plane</uri>
</include>
   ***<physics type='ode'>
  <max_step_size>0.001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>1000</real_time_update_rate>
  <gravity>0 0 -9.8</gravity>
</physics>***

</world> </sdf>

the question is that when Iaunch the world only ,the real time factor(RTF)can be 1,but when I spawn my own urdf or xacro robot ,the RTF while be changed .

I don't know how to handle it.

I use gazebo 7 ros kinetic the launch file as follow

<launch>

<arg name="paused" default="true"/> <arg name="use_sim_time" default="false"/> (I try to set true and false didn't work) <arg name="gui" default="true"/> <arg name="headless" default="false"/> <arg name="debug" default="false"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="debug" value="$(arg debug)"/> <arg name="gui" value="$(arg gui)"/>

<arg name="paused" value="$(arg paused)"/> <arg name="use_sim_time" value="$(arg use_sim_time)"/> <arg name="headless" value="$(arg headless)"/> </include> <node name="tf_footprint_base" pkg="tf" <="" p="">

type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />

<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" args="-urdf -model test_platform -param robot_description"/> </launch>