Physics Properties
In the World
tab, select the physics
item. A list of physics properties will be displayed in the list box below.
- The
enable physics
check-box can be used to disable physics while allowing plugins and sensors to continue running. - The
real time update rate
parameter specifies in Hz the number of physics updates that will be attempted per second. If this number is set to zero, it will run as fast as it can. Note that the product ofreal time update rate
andmax step size
represents the targetreal time factor
, or ratio of simulation time to real-time. - The
max step size
specifies the time duration in seconds of each physics update step.
默认.world
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.2</sor>
</solver>
</ode>
</physics>
<max_step_size>
: 这个参数指定了每个物理更新步骤的持续时间(秒)。
<real_time_factor>
: 该参数以赫兹为单位指定每秒尝试的物理更新次数。如果这个数字设为0,它就会尽可能快地运行
注意
<real_time_update_rate>
和<max_step_size>
的乘积表示<real_time_factor>
,即模拟时间与实时的比率。
加速Gazebo仿真的.world
<physics type='ode'>
<max_step_size>0.01</max_step_size>
<!-- <real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate> -->
<gravity>0 0 -9.8</gravity>
</physics>
<real_time_factor>
和<real_time_update_rate>
注释掉,你会发现gazebo的仿真时间比真实时间快了10倍.