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Fix physics based sensor update rate in lockstep mode #2863

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merged 2 commits into from
Oct 29, 2020
Merged

Fix physics based sensor update rate in lockstep mode #2863

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aeae033
fix physics based sensor update rate in lockstep mode
iche033 Oct 24, 2020
4ab78c5
merge lines and update changelog
iche033 Oct 27, 2020
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10 changes: 10 additions & 0 deletions gazebo/sensors/Sensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -174,8 +174,18 @@ void Sensor::Update(const bool _force)
{
if (this->useStrictRate)
{
// rendering sensors (IMAGE category) has it's own mechanism
// for throttling and lockstepping with physics. So throttle just
// physics sensors
if (this->dataPtr->category != IMAGE && !this->NeedsUpdate() && !_force)
return;

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();

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done. 4ab78c5

this->dataPtr->updated();
}
}
else
{
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2 changes: 1 addition & 1 deletion gazebo/sensors/SensorManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -762,7 +762,7 @@ void SensorManager::SensorContainer::RunLoop()
if (!g_sensorsDirty)
return;

// Get the minimum update rate from the sensors.
// Get the maximum update rate from the sensors.
for (Sensor_V::iterator iter = this->sensors.begin();
iter != this->sensors.end() && !this->stop; ++iter)
{
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27 changes: 27 additions & 0 deletions test/worlds/laser_hit_strict_rate_test.world
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Expand Up @@ -32,6 +32,32 @@
<static>true</static>
<link name="link">
<sensor name="laser" type="ray">
<ray>
<scan>
<horizontal>
<samples>4</samples>
<resolution>1</resolution>
<min_angle>-2.26889</min_angle>
<max_angle>2.268899</max_angle>
</horizontal>
</scan>
<range>
<min>0.0</min>
<max>20</max>
<resolution>0.01</resolution>
</range>
</ray>
<always_on>1</always_on>
<update_rate>250</update_rate>
<visualize>true</visualize>
</sensor>
</link>
</model>

<model name="ray_model2">
<static>true</static>
<link name="link2">
<sensor name="laser2" type="ray">
<ray>
<scan>
<horizontal>
Expand All @@ -53,5 +79,6 @@
</sensor>
</link>
</model>

</world>
</sdf>