Hi,
I want to use the real time simulate ,I know launch the world with ros by include a world .and I have set the physics as follow (empty_world.launch)
> version="1.5"> name="default">>>>model://sun >> >>>model://ground_plane > > ***>0.001 >1 >1000 >0 0 -9.8 > ***
>
the question is that when Iaunch the world only ,the real time factor(RTF)can be 1,but when I spawn my own urdf or xacro robot ,the RTF while be changed .
I don't know how to handle it.
I use gazebo 7 ros kinetic the launch file as follow
>>> default="false"/> (I try to set
> true and false didn't work) name="gui" default="true"/> name="headless" default="false"/> name="debug" default="false"/>>> /> />>> value="$(arg use_sim_time)"/> name="headless" value="$(arg
> headless)"/> name="tf_footprint_base"
> pkg="tf"
>>> type="static_transform_publisher"
> args="0 0 0 0 0 0 base_link base_footprint 40" />>> command="$(find xacro)/xacro.py
> '$(find
> test_platform)/urdf/test_platform.urdf.xacro'"
> />>>> pkg="gazebo_ros" type="spawn_model"
> respawn="false" output="screen"
> args="-urdf -model test_platform
> -param robot_description"/>
↧