clock

Run clock tutorial in Gazebo

The clock plugin sends on the /clock port the current simulation time in nanoseconds.

Run model in Gazebo with YARP integration

• 1st terminal:

  yarp server
  

• 2nd terminal:

  cd tutorial/clock
  gz sim model.sdf
  

• 3rd terminal:

  yarp name list
  yarp read /read ... /clock
  

Finally start the simulation in Gazebo. You will read the simulation time increasing, as in the following:

$ yarp read "..." /clock
[INFO] |yarp.os.Port|/tmp/port/2| Port /tmp/port/2 active at tcp://192.168.158.201:10004/
[INFO] |yarp.os.impl.PortCoreInputUnit|/tmp/port/2| Receiving input from /clock to /tmp/port/2 using tcp
1000000
2000000
3000000
4000000
5000000
6000000
7000000
8000000
9000000
10000000
11000000
12000000
13000000
14000000
15000000
16000000
17000000
18000000
19000000

Note

When simulation is paused, simulation time does not increase and the clock plugin will not send timestamps on the /clock port until simulation is resumed.

Caution

When simulation is reset, simulation time will restart from zero. Clock plugin manages this event without closing the /clock port. Please pay attention to potential unexpected behaviors of subscribers when a reset occurs.