Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Synchronous publishing in Ignition Gazebo in PreUpdate?

I'm writing an Ignition Gazebo model plugin and I'd like to command multiple joint controllers from the plugin. The joint controllers provide a cmd_pos topic on which they can be commanded. If I publish to these topics in my plugin's PreUpdate phase, can I be sure that all these messages will be delivered before the PostUpdate phase of the same simulation step begins? At least when running a non-distributed simulation on one machine? Or what is the suggested method of synchronous control when the controllers I'm using do not react to any simulator events but only topics?