Dear, I have a controller for a simple robot in gazebo. In my controller, I need to get the starting simulated time because there is lag between starting gazebo simulation and starting my controller. In my controller, I used this line (Init_time) to get the starting simulation time, but it always got out 0.
Init_time = ros::Time::now().toSec();
double time = odom->header.stamp.toSec();
Originally posted by maruchi on ROS Answers with karma: 157 on 2012-01-12
Post score: 0
When you use sim time, the time starts at zero. That's not an error, that's just where time begins when you launch Gazebo. If you do a rostopic echo /clock, you will see that it's close to zero.
Originally posted by DimitriProsser with karma: 11163 on 2012-01-12
This answer was ACCEPTED on the original site
Post score: 2
Comment by DimitriProsser on 2012-01-13:
If you do rostopic echo /clock, does it show a simulated time properly? Also, try running your node without gazebo and use_sim_time and see if it works then.
Comment by maruchi on 2012-01-13:
Yes, I set "use_sim_time" parameter true
Comment by DimitriProsser on 2012-01-13:
Do you have the "use_sim_time" parameter set to true?
Comment by maruchi on 2012-01-12:
I start them in two separate terminals. Do you think I have to start them in the same launch file ? If I start them in the same launch file, how can I put my cpp file in the lauch file? Could you guide me a tutorial ?
Comment by DimitriProsser on 2012-01-12:
Do you start them in the same launch file or in two separate terminals?
Comment by maruchi on 2012-01-12:
I start gazebo simulation first and then load my controller. When the gazebo simulation start, 'Sim Time' has passed by. When I start my controller, I want to use the 'Sim Time' when my controller loaded. What should I edit in my controller which is written as C++ ?