Faster than Real -Time support in GZ #23783
Conversation
Signed-off-by: dirksavage88 <[email protected]>
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@Jaeyoung-Lim @dagar can you please give this a review? seems like a good addition |
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Amazing thanks!
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Just one small nitpick on the order of configuring the physics.
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More of a question/note: Since we configure the physics in the gz bridge, this might cause problems when running multiple px4 instances. Might be worth taking it out to somewhere else in the future.
| if (!callPhysicsMsgService(physics_service, p_req)) { | ||
| return PX4_ERROR; | ||
| } | ||
| } |
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It is probably harmless, but should we maybe configure the physics before spawning the model?
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I placed the physics service call further up in the init method, but not sure if this is before the model spawn you mentioned @Jaeyoung-Lim
Signed-off-by: dirksavage88 <[email protected]>
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This will good and will need docs hint hint |
Solved Problem
The new GZ simulation real time factor is configurable, however the service request has not been implemented in the GZ bridge.
partially fixes Fixes #23602
Solution
Changelog Entry
For release notes:
Alternatives
Change the real time facto in gazebo world sdf manually, or make a world file specific to an increased RTF
Test coverage
rtf.webm
Context
Related links, screenshot before/after, video