Changing max_step_size changes the sensor outputs (i.e. angular velocity)

Issue #2203 new
Anonymous created an issue

I was recently graphing the relative angular velocity of a link(applying torque via ROS' Wrench service) and decided to change the "max step size" in Gazebo GUI parameters from 0.0001 to 0.0000001. When I did that, the magnitude of the angular velocities decrease by a factor of ~4 for some reason.

Seems like this a major bug in how the angular velocity and almost every physics sensor is being compute since dt (time step) is not being calculated properly.