change default update rate to 200 Hz

- this goes along with the change PX4 side PX4/PX4-Autopilot#14759
PX4 · Apr 28, 2020 · 2972966 · 2972966
1 parent 0823f5e
commit 2972966
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Showing 13 changed files with 26 additions and 26 deletions.
diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
@@ -311,10 +311,10 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf
     double real_time_update_rate = boost::any_cast<double>(param);
     const int real_time_update_rate_int = static_cast<int>(real_time_update_rate + 0.5);
 
-    if (real_time_update_rate_int % 250 != 0)
+    if (real_time_update_rate_int % 200 != 0)
     {
       gzerr << "real_time_update_rate is " << real_time_update_rate_int
-            << " but needs to be multiple of 250 Hz, aborting.\n";
+            << " but needs to be multiple of 200 Hz, aborting.\n";
       abort();
     }
 

diff --git a/worlds/baylands.world b/worlds/baylands.world
@@ -40,9 +40,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/boat.world b/worlds/boat.world
@@ -24,9 +24,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/empty.world b/worlds/empty.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/hippocampus.world b/worlds/hippocampus.world
@@ -30,9 +30,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/iris_irlock.world b/worlds/iris_irlock.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
 

diff --git a/worlds/ksql_airport.world b/worlds/ksql_airport.world
@@ -41,9 +41,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/mcmillan_airfield.world b/worlds/mcmillan_airfield.world
@@ -37,9 +37,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/sonoma_raceway.world b/worlds/sonoma_raceway.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/typhoon_h480.world b/worlds/typhoon_h480.world
@@ -31,9 +31,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/uuv_hippocampus.world b/worlds/uuv_hippocampus.world
@@ -96,9 +96,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>

diff --git a/worlds/warehouse.world b/worlds/warehouse.world
@@ -28,9 +28,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
 

diff --git a/worlds/yosemite.world b/worlds/yosemite.world
@@ -37,9 +37,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-      <max_step_size>0.004</max_step_size>
+      <max_step_size>0.005</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>250</real_time_update_rate>
+      <real_time_update_rate>200</real_time_update_rate>
       <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
     </physics>
   </world>