ClosedLoopEngine works again: - Do not spawn a new thread at every start() - NOTE: time in TFs starts from 0; as brain, world and TFs runs concurrently. The synch is guaranteed within ONE CLE timestep of accuracy: depending on the relative running times of the 3 component, their internal clock can differ at most of one timestep. This behaviour is different in DeterministicClosedLoopEngine; in fact the latter runs TFs AFTER the two simulators.
[NUIT-93] Add synchronization details to CLE docstrings
The set of PR related to NUIT-93 fixes synchronization issues between Gazebo/ROS and TFs in the CLE. See NUIT-93 for a description.
How to Test:
Download the related PRs: (user-script, ExDbackend, GazeboRosPackages):
$HBP/user-scripts/nrp_update buildcle-start
start an experiment
Add the following TF:
@nrp.MapRobotSubscriber("clock", "/clock") @nrp.Neuron2Robot() def log_times (t, clock): import rospy clock = clock.value.clock gazebo_clock_f = float(clock.secs+(clock.nsecs)*1e-9) ros_get_time = rospy.get_time() time_str = "CLE {:{width}.{prec}f} -- ROS {:{width}.{prec}f} -- gazebo {:{width}.{prec}f}".format(t, ros_get_time, gazebo_clock_f, width=5, prec=3) clientLogger.info(time_str)Open the client logger
start the simulation
stop the simulator
NOTE that the CLE, ROS and Gazebo are in sync.
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[NUIT-93] Fix synch issues between TFs and gazebo/ROS
DeterministicClosedLoopEngine:
Pass to TFs, as t parameter, t+timestep. In fact, when TFs are run at end of the of a loop, simulators have already completed their timestep.
Rename timestep to timestep_s to highlight the unit of measurement (seconds)
Minor renaming and typo fixing
DeterministicClosedLoopEngineProfiler:
Fix typo
RosCommunicationAdapter:
Get the time from rospy.get_time() since it works properly now (it's in sync with /clock).
[NUIT-93] Fix ClosedLoopEngine.
ClosedLoopEngine works again: - Do not spawn a new thread at every start() - NOTE: time in TFs starts from 0; as brain, world and TFs runs concurrently. The synch is guaranteed within ONE CLE timestep of accuracy: depending on the relative running times of the 3 component, their internal clock can differ at most of one timestep. This behaviour is different in DeterministicClosedLoopEngine; in fact the latter runs TFs AFTER the two simulators.
[NUIT-93] Add synchronization details to CLE docstrings
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