DRCSIM ROS Topics Synchronization

Question

Hello,

Is there any mechanism to efficiently synchronize DRCSIM ROS topics? In a real robot the synchronization would happen with the control system tick. However, as the clock, force sensors, joint states, etc... update at the "same time" i cannot be sure that all the other variables have already being updated when triggering my control with clock callback.

Best regards,

LR

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Originally posted by Luis Filipe Rossi on Gazebo Answers with karma: 43 on 2013-02-27

Post score: 0

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Original comments

Comment by dcconner on 2013-02-27:
I posted a question to answers.ros http://answers.ros.org/question/56258/how-can-i-post-to-ross-callbackqueue/ trying to get around this issue. Waiting and testing to see that all data is received and processed before doing controls calculations is fraught with peril, and will likely cause significant issues due to latency.

Answer 1

I suspect this will take care of this issue: https://bitbucket.org/osrf/drcsim/pull-request/137/create-an-atlasstatesmsg-aggregating-all/diff

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Originally posted by dcconner with karma: 298 on 2013-02-28

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by hsu on 2013-04-02:
it's been further updated to https://bitbucket.org/osrf/drcsim/pull-request/169/add-atlas-atlas_command-and-atlas, as the originally proposed state message gets fragmented.