There is however a major inconvenience as the Simulink pacer block only allows 2 options on simulation start:
- Reset Gazebo Simulation time
- Reset Gazebo Simulation time and state
I would like it to not reset anything at all, as I am working with an elaborate pipeline of ROS nodes which requires time to be monotonic and consistent with Gazebo, used to simulate sensor data.
I have actually already made a fix, by modifying the C++ source code of the Simulink Gazebo Plugin. I simply commented out where the world time is reset and it worked. It would be nice if you were to add it as a a third built in option.
Please let me know if this is not possible and maybe if I shouldn't be doing this at all or there is another way to do it without changing the plugin code.
AMZ Racing - Driverless Control