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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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Measurement time is delayed #797

Open zqzqz opened 4 years ago

zqzqz commented 4 years ago

Environment

How to reproduce

Start simulation according to https://github.com/lgsvl/simulator/issues/614 and only enable localization module.

Problem

a b c

At the beginning of the simulation, the measurement time is roughly the same as current timestamp. However, as the current timestamp increases normally, the measurement time is about 5x slower. As a result, the IMU/GPS delay gradually increases.

Is it because of limited computing resources? How can I further diagnose the root cause and fix the delay? Thanks!

rongguodong commented 4 years ago

We are aware of this issue and are talking to Apollo to see if we can find a good solution. You may reply to this Apollo issue for any suggestions: https://github.com/ApolloAuto/apollo/issues/11317

zqzqz commented 4 years ago

Got it. Thanks for your quick reply!

zqzqz commented 4 years ago

I tried to execute lgsvl and apollo on the same machine. The delay is not increasing now but there is still a constant delay of 4 seconds. This could be another issue https://github.com/lgsvl/simulator/issues/530.