Fix physics based sensor update rate in lockstep mode #2863
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>
ahcorde
approved these changes
Oct 26, 2020
chapulina
approved these changes
Oct 27, 2020
gazebo/sensors/Sensor.cc
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| if (this->UpdateImpl(_force)) | ||
| { | ||
| common::Time simTime = this->world->SimTime(); | ||
| this->lastUpdateTime = simTime; |
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Nit: could avoid the temporary object here:
Suggested change
| this->lastUpdateTime = simTime; | |
| this->lastUpdateTime = this->world->SimTime(); |
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
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This fix is very much needed in Gazebo 11, where it hasn't been ported!!! Without it, gazebo_ros_imu_sensor is broken and never publishes any ROS messages in lockstep mode (and gazebo_ros_block_laser and gazbeo_ros_range as well, as given by the search https://github.com/search?q=repo%3Aros-simulation%2Fgazebo_ros_pkgs%20lastupdatetime&type=code ). When porting the fix, it should also be taken into account that @iche033 Do you want to prepare the forward port or should I? |
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closes issue #2861 - see issue on how to reproduce the problem
Problem was that the physics based sensors were all throttled by the max update rate of all sensors in lockstep mode. This PR applies proper throttling to the sensors.
I was also able to reproduce the problem by adding an additional ray sensor with different update rate to the laser strict rate integration test world file and that caused
INTEGRATION_lasertest to fail. Test should be fixed with these changes.