Want to be able to set real time factor low on the sim clock and see things move slowly in rviz but interpolated.
If rviz is always using the latest available tf this won't happen, it will jump by entire time step increments, but if it is a second or two behind then it will use tf interpolation.
An alternative approach is to set the bullet step time smaller than the internal tick time, which ought to produce a series of extrapolated positions before a real sim tick occurs (but if it is keeping up to current tick is there a little glitch in the final moments before a real sim tick, or is there a latency of one internal tick period?)
Want to be able to set real time factor low on the sim clock and see things move slowly in rviz but interpolated. If rviz is always using the latest available tf this won't happen, it will jump by entire time step increments, but if it is a second or two behind then it will use tf interpolation.
An alternative approach is to set the bullet step time smaller than the internal tick time, which ought to produce a series of extrapolated positions before a real sim tick occurs (but if it is keeping up to current tick is there a little glitch in the final moments before a real sim tick, or is there a latency of one internal tick period?)