Scene Properties: Gazebo plugins don't work with a max step size of less than 1 millisecond

[osrf-migration]

Original report (archived issue) by Giuseppe Silano (Bitbucket: giuseppesilano).

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I had serious issues when I simulated the behavior of a drone in Gazebo with a max step size of less than 1 millisecond: the odometry plugin returns something strange. When I apply a constant thrust (all the propellers have the same speed) the linear velocity (I use the odometry plugin to measure it) increases its value up to 0.025 m/s. Reached, the linear velocity does not increase even if the position along the same axis continue to rise. Therefore, the data come out from the sensor. I think such problem should be the same with any object in the virtual reality environment.

I tried to reduce and increase the update rate, varying also the real-time factor and the number of iterations, but the plugin does not work when the sampling time is less than 1 millisecond.

I'm using RotorS, a famous Micro Aerial Vehicles simulator developed by ETH Zurich.

I can attach a video if it can help in some way to understand what happens.

[elrond91]

I have the same issue, does someone found a solution??