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change default update rate to 200 Hz #474

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change default update rate to 200 Hz #474

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2 changes: 1 addition & 1 deletion include/gazebo_mavlink_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -383,7 +383,7 @@ class GazeboMavlinkInterface : public ModelPlugin {
double groundtruth_lon_rad;
double groundtruth_altitude;

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

ignition::math::Vector3d gravity_W_;
ignition::math::Vector3d velocity_prev_W_;
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12 changes: 6 additions & 6 deletions src/gazebo_mavlink_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -303,18 +303,18 @@ void GazeboMavlinkInterface::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf
#endif
presetManager->CurrentProfile("default_physics");

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

presetManager->GetCurrentProfileParam("real_time_update_rate", param);
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();
}

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

update_skip_factor_ = real_time_update_rate_int / 250;
update_skip_factor_ = real_time_update_rate_int / 200;

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

previous_imu_seq_ = last_imu_message_.seq();

// Always run at 250 Hz. At 500 Hz, the skip factor should be 2, at 1000 Hz 4.
// Always run at 200 Hz. At 400 Hz, the skip factor should be 2, at 1000 Hz 5.
if (!(previous_imu_seq_ % update_skip_factor_ == 0)) {
return;
}
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4 changes: 2 additions & 2 deletions worlds/baylands.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/boat.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/empty.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/hippocampus.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/iris_irlock.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

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4 changes: 2 additions & 2 deletions worlds/ksql_airport.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/mcmillan_airfield.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/sonoma_raceway.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/typhoon_h480.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/uuv_hippocampus.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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4 changes: 2 additions & 2 deletions worlds/warehouse.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

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4 changes: 2 additions & 2 deletions worlds/yosemite.world
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down