Re: [Playerstage-users] timing in simulation vs. real world

[Richard V. <va...@sf...>]

Timing in P/S is currently quite unsatisfactory. This is fixed in CVS HEAD, with 
a completely new timing model. This is being tested and will be released soon. 
Meanwhile the best approach is to slow down Stage so that all your drivers have 
a chance to keep up. To do this you increase the "interval_real" in your 
worldfile. If interval_sim is 100 (ms) and interval_real is 200 (ms), Stage will 
attempt to run aty half of real-time speed. Unless you have a LOT of lasers 
running, that should mean that Stage spends some time sleeping, giving your 
other processes time to do their work.

Again, I fully understand the problem and I know it's a pain: we suffer from 
this a lot in my lab. I'm looking forward to releasing the new code so that this 
goes away.

cheers,
Richard/


Elizabeth Liao wrote:
> Hi,
> 
> I don't know enough about the player/stage architecture to understand 
> how the timing works in Stage with multiple robots.  I'm currently 
> running player/stage on one machine but I would think the timing would 
> be different when having a separate processor for each robot in the real 
> world.
> 
> Specifically, my setup is as follows: I am currently running multi-robot 
> simulations in Stage where robots are either running the wavefront 
> planner or my custom built one, which runs slower than wavefront.  I'm 
> also running Stage, Player and Playernav all on one machine, where all 
> of which are the latest release.
> 
> The problem that I'm having is that wavefront is running at the desired 
> speed but my planner is not.  Since each robot would have their own 
> processors in the real world, I'm guessing that the timing discrepancy 
> would be less of a problem?  Is there a way to allow more time for a 
> given driver?
> 
> Thanks a lot!
> 
> Elizabeth Liao
> 
> 
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