At the moment I need to use low Gazebo step for my simulations. At the moment the simulation step is one to one with the FMU integration step. So if I use too big sim step the FMUs integrator result has big integration errors.
On the other hand, the consequence of using low sim steps in Gazebo is that the simulation is very time-consuming.
The possible solutions can be:
1)Change the FMI library used in the plugin, see issue #27 and compile the FMU without costimulation support.
2)Compile the FMU with another integrator than Euler, now it is not possible in OpenModelica.
3)Try to execute more FMU steps for each Gazebo step.
At the moment I need to use low Gazebo step for my simulations. At the moment the simulation step is one to one with the FMU integration step. So if I use too big sim step the FMUs integrator result has big integration errors. On the other hand, the consequence of using low sim steps in Gazebo is that the simulation is very time-consuming. The possible solutions can be: 1)Change the FMI library used in the plugin, see issue #27 and compile the FMU without costimulation support. 2)Compile the FMU with another integrator than Euler, now it is not possible in OpenModelica. 3)Try to execute more FMU steps for each Gazebo step.