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1- You can slow the execution time using sleep() from ros::Rate class. Also, Gazebo allows you do so using real_time_factor. 2- While Gazebo and ROS allow you to slow down the execution time, but it seems to me you're missing a good feature in ROS which is "ROS Action Protocol". The protocol is one-to-one, and reliable communication mode between ...


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Since you're using gazebo already and it should then be generating simulated time you can ask gazebo to run slower than realtime. In the physics section of your world you can ajdust the maximum realtime factor to tell gazebo to run slower than realtime using the real_time_factor parameter. There's a tutorial on the physics parameters here which you may find ...


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