revert to default update as in ROS1

[iluetkeb]

This reverts the clock update frequency back to the ROS 1 value of 1kHz, in response to #1211.

[kamille6]

Has it been determined why the check is failing? Is there some way I could help move this along? I am in need of a faster /clock and would like to eventually not have to build gazebo_ros_pkgs from source for my project just to get a faster /clock. Thank you!

[robin-read]

When trying to open the link for the failed test I get a 404 error which is a bit concerning.

This is a small and easy change/win that will certainly make the migration to ROS2 much cleaner for the community at large. To echo the comment from @kamille6, having to clone this repo to get a one line change is a bit cumbersome.

To the maintainers, please could you have a look at this PR? It would be much appreciated.

Thanks!

[bednarhonza]

Hello guys, any update on this? It would be very welcomed!

Thanks!

[iluetkeb]

We did some more testing on the meantime, and anything beyond 250Hz causes simulation slowdown, so I would probably modify this a bit by now.
Also, we found that you actually can pass this as an argument, by giving it on the command-line (in contrast to adding it to the models, which doesn't work). Just stick it into a YAML file and give that as a --ros-args argument when starting gzserver.

[bednarhonza]

I have tried to set the rate at 250 Hz, but my simulation does not go above 160 Hz. My CPU should be able to handle this, I have the real-time factor 1.0 as well.

I'm trying to launch it through default gazebo.launch.py. Could you help me with setting the parameter via the launch file?

[iluetkeb]

You can set the launch variable extra_gazebo_args to --ros-args --params-file <your-yaml>

[bednarhonza]

Thanks, that works. I have set the rate to 100 Hz, but the /clock runs at 83 Hz. Is there any other reason for that?

[jacobperron]

Change the default frequency sounds reasonable to me; it would be good to know the reason for the discrepancy between the desired and actual publish rate.. though I suppose we can ticket that separately.