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robotology / gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.
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Cleanup of connected Event for sensor update #158

Open traversaro opened 10 years ago

traversaro commented 10 years ago

In most of the plugins we rely on Gazebo Events to update the internal buffers of the yarp drivers. Sometimes we do stupid things such as update the buffer of given sensor at every physics simulation step, while it would make more sense to connect the update of the buffer to the Event of sensor update. [1]

We should check what we do in all plugins and choose the most appropriate Event depending on the context.

[1] : https://github.com/robotology/gazebo-yarp-plugins/blob/master/src/yarp_drivers/ForceTorqueDriver.cpp#L77

cc @francesco-romano

traversaro commented 9 years ago

Relevant discussion on Gazebo Answers : http://answers.gazebosim.org/question/6494/connectworldupdatebegin-vs-connectworldupdateend/?answer=6529#post-id-6529 And issue on Gazebo Bitbucket: https://bitbucket.org/osrf/gazebo/issue/1221/consider-moving-the-worldupdatebegin-event Relevant also for the controlboard cc @mikearagao .