fix sim time

husarion · Dec 1, 2023 · 0fca432 · 0fca432
1 parent 22ee6c1
commit 0fca432
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rosbot_gazebo/test/test_utils.py b/rosbot_gazebo/test/test_utils.py
@@ -38,6 +38,10 @@ class SimulationTestNode(Node):
     def __init__(self, name="test_node"):
         super().__init__(name)
 
+        # Use simulation time to correct run on slow machine
+        use_sim_time = rclpy.parameter.Parameter("use_sim_time", rclpy.Parameter.Type.BOOL, True)
+        self.set_parameters([use_sim_time])
+
         self.VELOCITY_STABILIZATION_DELAY = 3
         self.goal_received_time = 1e-9 * self.get_clock().now().nanoseconds
         self.vel_stabilization_time_event = Event()