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dagardagar
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change default update rate to 200 Hz
 - this goes along with the change PX4 side PX4/PX4-Autopilot#14759
1 parent 0823f5e commit 2019c55

14 files changed

+31
-31
lines changed

‎include/gazebo_mavlink_interface.h

+1-1
Original file line numberDiff line numberDiff line change
@@ -383,7 +383,7 @@ class GazeboMavlinkInterface : public ModelPlugin {
383383
double groundtruth_lon_rad;
384384
double groundtruth_altitude;
385385

386-
double imu_update_interval_ = 0.004; ///< Used for non-lockstep
386+
double imu_update_interval_ = 0.005; ///< Used for non-lockstep
387387

388388
ignition::math::Vector3d gravity_W_;
389389
ignition::math::Vector3d velocity_prev_W_;

‎src/gazebo_mavlink_interface.cpp

+6-6
Original file line numberDiff line numberDiff line change
@@ -303,18 +303,18 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf
303303
#endif
304304
presetManager->CurrentProfile("default_physics");
305305

306-
// We currently need to have the real_time_update_rate at a multiple of 250 Hz for lockstep.
307-
// Also, the max_step_size needs to match this (e.g. 0.004 s at 250 Hz or 0.002 s at 500 Hz).
306+
// We currently need to have the real_time_update_rate at a multiple of 200 Hz for lockstep.
307+
// Also, the max_step_size needs to match this (e.g. 0.005 s at 200 Hz or 0.0025 s at 400 Hz).
308308
// Therefore we check these params and abort if they won't work.
309309

310310
presetManager->GetCurrentProfileParam("real_time_update_rate", param);
311311
double real_time_update_rate = boost::any_cast<double>(param);
312312
const int real_time_update_rate_int = static_cast<int>(real_time_update_rate + 0.5);
313313

314-
if (real_time_update_rate_int % 250 != 0)
314+
if (real_time_update_rate_int % 200 != 0)
315315
{
316316
gzerr << "real_time_update_rate is " << real_time_update_rate_int
317-
<< " but needs to be multiple of 250 Hz, aborting.\n";
317+
<< " but needs to be multiple of 200 Hz, aborting.\n";
318318
abort();
319319
}
320320

@@ -328,7 +328,7 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf
328328
abort();
329329
}
330330

331-
update_skip_factor_ = real_time_update_rate_int / 250;
331+
update_skip_factor_ = real_time_update_rate_int / 200;
332332

333333
// Adapt the real_time_update_rate according to the speed
334334
// that we ask for in the env variable.
@@ -648,7 +648,7 @@ void GazeboMavlinkInterface::OnUpdate(const common::UpdateInfo& /*_info*/) {
648648

649649
previous_imu_seq_ = last_imu_message_.seq();
650650

651-
// Always run at 250 Hz. At 500 Hz, the skip factor should be 2, at 1000 Hz 4.
651+
// Always run at 200 Hz. At 400 Hz, the skip factor should be 2, at 1000 Hz 5.
652652
if (!(previous_imu_seq_ % update_skip_factor_ == 0)) {
653653
return;
654654
}

‎worlds/baylands.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -40,9 +40,9 @@
4040
<contact_surface_layer>0.001</contact_surface_layer>
4141
</constraints>
4242
</ode>
43-
<max_step_size>0.004</max_step_size>
43+
<max_step_size>0.005</max_step_size>
4444
<real_time_factor>1</real_time_factor>
45-
<real_time_update_rate>250</real_time_update_rate>
45+
<real_time_update_rate>200</real_time_update_rate>
4646
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
4747
</physics>
4848
</world>

‎worlds/boat.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -24,9 +24,9 @@
2424
<contact_surface_layer>0.001</contact_surface_layer>
2525
</constraints>
2626
</ode>
27-
<max_step_size>0.004</max_step_size>
27+
<max_step_size>0.005</max_step_size>
2828
<real_time_factor>1</real_time_factor>
29-
<real_time_update_rate>250</real_time_update_rate>
29+
<real_time_update_rate>200</real_time_update_rate>
3030
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3131
</physics>
3232
</world>

‎worlds/empty.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -28,9 +28,9 @@
2828
<contact_surface_layer>0.001</contact_surface_layer>
2929
</constraints>
3030
</ode>
31-
<max_step_size>0.004</max_step_size>
31+
<max_step_size>0.005</max_step_size>
3232
<real_time_factor>1</real_time_factor>
33-
<real_time_update_rate>250</real_time_update_rate>
33+
<real_time_update_rate>200</real_time_update_rate>
3434
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3535
</physics>
3636
</world>

‎worlds/hippocampus.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -30,9 +30,9 @@
3030
<contact_surface_layer>0.001</contact_surface_layer>
3131
</constraints>
3232
</ode>
33-
<max_step_size>0.004</max_step_size>
33+
<max_step_size>0.005</max_step_size>
3434
<real_time_factor>1</real_time_factor>
35-
<real_time_update_rate>250</real_time_update_rate>
35+
<real_time_update_rate>200</real_time_update_rate>
3636
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3737
</physics>
3838
</world>

‎worlds/iris_irlock.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -28,9 +28,9 @@
2828
<contact_surface_layer>0.001</contact_surface_layer>
2929
</constraints>
3030
</ode>
31-
<max_step_size>0.004</max_step_size>
31+
<max_step_size>0.005</max_step_size>
3232
<real_time_factor>1</real_time_factor>
33-
<real_time_update_rate>250</real_time_update_rate>
33+
<real_time_update_rate>200</real_time_update_rate>
3434
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3535
</physics>
3636

‎worlds/ksql_airport.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -41,9 +41,9 @@
4141
<contact_surface_layer>0.001</contact_surface_layer>
4242
</constraints>
4343
</ode>
44-
<max_step_size>0.004</max_step_size>
44+
<max_step_size>0.005</max_step_size>
4545
<real_time_factor>1</real_time_factor>
46-
<real_time_update_rate>250</real_time_update_rate>
46+
<real_time_update_rate>200</real_time_update_rate>
4747
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
4848
</physics>
4949
</world>

‎worlds/mcmillan_airfield.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -37,9 +37,9 @@
3737
<contact_surface_layer>0.001</contact_surface_layer>
3838
</constraints>
3939
</ode>
40-
<max_step_size>0.004</max_step_size>
40+
<max_step_size>0.005</max_step_size>
4141
<real_time_factor>1</real_time_factor>
42-
<real_time_update_rate>250</real_time_update_rate>
42+
<real_time_update_rate>200</real_time_update_rate>
4343
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
4444
</physics>
4545
</world>

‎worlds/sonoma_raceway.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -31,9 +31,9 @@
3131
<contact_surface_layer>0.001</contact_surface_layer>
3232
</constraints>
3333
</ode>
34-
<max_step_size>0.004</max_step_size>
34+
<max_step_size>0.005</max_step_size>
3535
<real_time_factor>1</real_time_factor>
36-
<real_time_update_rate>250</real_time_update_rate>
36+
<real_time_update_rate>200</real_time_update_rate>
3737
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3838
</physics>
3939
</world>

‎worlds/typhoon_h480.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -31,9 +31,9 @@
3131
<contact_surface_layer>0.001</contact_surface_layer>
3232
</constraints>
3333
</ode>
34-
<max_step_size>0.004</max_step_size>
34+
<max_step_size>0.005</max_step_size>
3535
<real_time_factor>1</real_time_factor>
36-
<real_time_update_rate>250</real_time_update_rate>
36+
<real_time_update_rate>200</real_time_update_rate>
3737
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3838
</physics>
3939
</world>

‎worlds/uuv_hippocampus.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -96,9 +96,9 @@
9696
<contact_surface_layer>0.001</contact_surface_layer>
9797
</constraints>
9898
</ode>
99-
<max_step_size>0.004</max_step_size>
99+
<max_step_size>0.005</max_step_size>
100100
<real_time_factor>1</real_time_factor>
101-
<real_time_update_rate>250</real_time_update_rate>
101+
<real_time_update_rate>200</real_time_update_rate>
102102
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
103103
</physics>
104104
</world>

‎worlds/warehouse.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -28,9 +28,9 @@
2828
<contact_surface_layer>0.001</contact_surface_layer>
2929
</constraints>
3030
</ode>
31-
<max_step_size>0.004</max_step_size>
31+
<max_step_size>0.005</max_step_size>
3232
<real_time_factor>1</real_time_factor>
33-
<real_time_update_rate>250</real_time_update_rate>
33+
<real_time_update_rate>200</real_time_update_rate>
3434
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
3535
</physics>
3636

‎worlds/yosemite.world

+2-2
Original file line numberDiff line numberDiff line change
@@ -37,9 +37,9 @@
3737
<contact_surface_layer>0.001</contact_surface_layer>
3838
</constraints>
3939
</ode>
40-
<max_step_size>0.004</max_step_size>
40+
<max_step_size>0.005</max_step_size>
4141
<real_time_factor>1</real_time_factor>
42-
<real_time_update_rate>250</real_time_update_rate>
42+
<real_time_update_rate>200</real_time_update_rate>
4343
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
4444
</physics>
4545
</world>

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