Hi Lisa,<br><br>you can throttle physics by adding an &lt;upateRate&gt; tag to the physics block.  For example, see <a href="https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/tags/cturtle/gazebo_worlds/worlds/empty_throttled.world">this file</a><br>

<br>  &lt;physics:ode&gt;<br>    ...<br>
    &lt;updateRate&gt;200&lt;/updateRate&gt;<br>  &lt;/physics:ode&gt;<br><br>if time step size is 1ms, throttling at 200 steps/second effectively throttles simulation down to .2X real-time.<br><br>you can further reduce cpu load by disabling the simulator gui by providing the &#39;-g&#39; flag when starting gazebo.  For example, see attached launch script.<br>

<br>John<br><br><div class="gmail_quote">On Tue, Oct 19, 2010 at 8:02 PM, Lisa Miller <span dir="ltr">&lt;<a href="mailto:lizajane999@gmail.com">lizajane999@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

I&#39;m working on some evolutionary robotics algorithms with Gazebo. My proof-of-concept code is not at all optimized and runs rather slowly. I&#39;d like to slow down the sim time speed in Gazebo so that my robot doesn&#39;t run around brainless while the code is crunching. I can&#39;t seem to figure out exactly how to do this.<br>



<br>Suggestions would be appreciated!<br><br>Thanks,<br clear="all">Lisa J. Miller<br><br>Graduate Research Assistant<br>Information and Computer Sciences Dept.<br>University of Hawaii at Manoa<br><font color="#888888"><br>

<a href="mailto:lisa.miller@hawaii.edu" target="_blank">lisa.miller@hawaii.edu</a><br>

<a href="mailto:lizajane999@gmail.com" target="_blank">lizajane999@gmail.com</a><br><br>
</font><br>_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>