Gazebo supports faster than realtime #3628
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hamishwillee
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Mar 6, 2025
hamishwillee
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Mar 6, 2025
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| | Simulator | Description | | ||
| | ------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ||
| | [Gazebo](../sim_gazebo_gz/index.md) | <p><strong>This simulator is highly recommended.</strong></p><p>Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04</p><p>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control. </p><p><strong>Supported Vehicles:</strong> Quad, Standard VTOL, Plane</p> | | ||
| | [Gazebo Classic](../sim_gazebo_classic/index.md) | <p><strong>This simulator is highly recommended.</strong></p><p>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.</p><p><strong>Supported Vehicles:</strong> Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine </p> | | ||
| | Simulator | Description | | ||
| | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | ||
| | [Gazebo](../sim_gazebo_gz/index.md) | Gazebo supersedes [Gazebo Classic](../sim_gazebo_classic/index.md), featuring more advanced rendering, physics and sensor models. It is the only version of Gazebo available from Ubuntu Linux 22.04<br><br>A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control. <br><br><strong>Supported Vehicles:</strong> Quad, VTOL (Standard, Tailsitter, Tiltroter), Plane, Rovers | | ||
| | [Gazebo Classic](../sim_gazebo_classic/index.md) | A powerful 3D simulation environment that is particularly suitable for testing object-avoidance and computer vision. It can also be used for [multi-vehicle simulation](../simulation/multi-vehicle-simulation.md) and is commonly used with [ROS](../simulation/ros_interface.md), a collection of tools for automating vehicle control.<br><br>**Supported Vehicles:** Quad ([Iris](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter)), Hex (Typhoon H480), [Generic Standard VTOL (QuadPlane)](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol), Tailsitter, Plane, Rover, Submarine | |
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FYI Ignore this change. Nothing to do with matter under discussion.
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@hamishwillee this PR did go in, but it is superseded by I don't believe there is a lockstep. I will need to test the new changes for RTF but it was part of a much larger restructure of gz plugins and the bridge |
hamishwillee
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Mar 6, 2025
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Thanks @dirksavage88 . I've added the superseding bug link to the relnote as well. Re lockstep, according to existing docs this is a requirement for faster than realtime to be able to work - would be good to confirm - @Jaeyoung-Lim ? |
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Co-authored-by: Jacob Dahl <[email protected]>
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This documents faster than realtime support in Gazebo added in PX4/PX4-Autopilot#23783
I also put "Gazebo first"
Needs advice on how to disable lockstep in Gazebo - https://github.com/PX4/PX4-user_guide/pull/3628/files#r1982665629
Can you please review @Jaeyoung-Lim @dirksavage88 ?