John, Can I suggest adding a "run-in-realtime" flag to gazebo's physics
interface that if set, and the simulation is able to run faster than
real-time, throttles the simulation to real time (e.g. with a sleep()). This
is probably a useful tool and eliminates the fiddling around with the
simulation rate to get a near to real-time run rate.

I am not familiar with Gazebo's current internal structure, so I don't know
how feasible this is.


John Hsu wrote:
> 
> 
> Assuming your dynamic obstacles world can be simulated faster than
> real-time, to ensure your simulated sensor generation rates are close to
> what you specify in real world wall clock time, you can throttle your
> overall simulation update rate by setting updateRate to be 1/dt to limit
> your gazebo simulation to 1X real-time, e.g.:
> 
>   <physics:ode>
>     <stepTime>0.001</stepTime>
>     ...
>     <updateRate>1000</updateRate>
>   </physics:ode>
> 
> This is not something I have tried personally, so please let me know if
> you
> have any trouble getting this to work, I'll be glad to help out further.
> 
> Best,
> John
> 
> 

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