Hi everyone,
I’m currently working with Isaac Sim (version 4.1.0) and ROS2 (humble) to simulate RTXLidars and cameras, and I’ve encountered some questions about how simulation time works in this environment. I’m hoping someone here might be able to help clarify a few points:
1. Publishing data at exact rates through ROS2 publishers
I followed the tutorials on the wiki, however, I’m facing some challenges. The tutorials mention skipping simulation ticks can adjust the publishing rates [ref]. Still, everything seems tied to the FPS of the simulation, which, in my experience, even if I fix it to an exact value, it will vary depending mainly on computational load.
In my specific case, my goal is to publish images from a camera at exactly 30 Hz and point clouds from an RTXLidar at its rotating speed (10 Hz). Is there a way to achieve this precise data publication rate, independent of the FPS?
2. Implications of simulation time
In my experiments, I’ve noticed that when I export simulation time as the clock in ROS2, this time seems to progress slower than real-time. Is the simulation time the main time source for all operations within the simulation?
3. Control Over Real-Time / Simulation Time Rate
Does anyone know if we have control over the simulation time rate? I guess that it clearly depends on the computational capabilities, but is this rate constant or known somewhere?
Any insights, tips, or workarounds would be greatly appreciated!
Thanks in advance!