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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
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sim time control #13

Open lucasw opened 6 years ago

lucasw commented 6 years ago

Real time factor (including negative!), pause, single step

lucasw commented 6 years ago

Going to duplicate a lot of sim_clock inside bullet_server for now because of the tightness of integration required, but should figure out how to include it either as a plugin, or the as two nodelets together, or otherwise re-use code.

Actually don't really want to generate time from inside the bullet server because it needs to generate clock updates at a much finer granularity than the sim time step, other nodes in the system may demand it. Though it could use void btDynamicsWorld::setInternalTickCallback() to generate all the needed intermediate clock updates.

For the separate sim_clock node case, still want a single step capability for the sim- the sim_clock would need a clock step_time and a separate control to advance the clock by a certain amount that happens to be the same as the bullet sim internal time step.