Hello!
I know this issue has been raised before (sorry for bringing it up again :) )
Similar to the older stories, I am running my simulation at a high RTF. My controller server runs at a lower frequency (on wall time), which causes the motion to be quite glitchy at a higher RTF.
I have gone through #3325 and #3303 and the related PRs
Most places have already migrated to using the sim time instead of the system clock.
Many places such as wait.cpp mentioned in this comment (#3325 (comment)) have also now moved to using the ros clock.
@SteveMacenski in your comment here, you mention that you are open to reconsideration in the future. I am interested in migrating the other stuff to using the ros clock. While I know things such as controller server frequency are only compatible at low RTFs and slightly higher on stronger computers, I think the users should have an option to play with this.
I would like to add a parameter (albeit this parameter might be overused in a lot of locations) that allows users to switch to using sim time for stuff that still relies on the wall clock.
Could you please give me more information about this issue that I am not able to figure out and how I should approach this issue? (I don't have a broader picture of things)
Thank you for your time.
Hello!
I know this issue has been raised before (sorry for bringing it up again :) )
Similar to the older stories, I am running my simulation at a high RTF. My controller server runs at a lower frequency (on wall time), which causes the motion to be quite glitchy at a higher RTF.
I have gone through #3325 and #3303 and the related PRs
Most places have already migrated to using the sim time instead of the system clock.
Many places such as
wait.cppmentioned in this comment (#3325 (comment)) have also now moved to using the ros clock.@SteveMacenski in your comment here, you mention that you are open to reconsideration in the future. I am interested in migrating the other stuff to using the ros clock. While I know things such as controller server frequency are only compatible at low RTFs and slightly higher on stronger computers, I think the users should have an option to play with this.
I would like to add a parameter (albeit this parameter might be overused in a lot of locations) that allows users to switch to using sim time for stuff that still relies on the wall clock.
Could you please give me more information about this issue that I am not able to figure out and how I should approach this issue? (I don't have a broader picture of things)
Thank you for your time.