gazebo仿真rotors调整实时比例的方法

1.gazebo中：修改world文件：

这是实时律1
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
若要修改成0.5，则
<real_time_factor>0.5</real_time_factor>
<real_time_update_rate>50</real_time_update_rate>

1.matlab中：修改control_init文件：

real_time_factor=1;
%视觉控制
step_control=1;
control_period=1/100;
scope=zeros(90,1/control_period*200);
t_control_visual = timer;
t_control_visual.TimerFcn = @ControlCallback;
t_control_visual.Period = control_period/real_time_factor;
t_control_visual.StartDelay = 0.01;
t_control_visual.ExecutionMode = ‘fixedRate’;
start(t_control_visual)

改为

real_time_factor=0.5;
%视觉控制
step_control=1;
control_period=1/100;
scope=zeros(90,1/control_period*200);
t_control_visual = timer;
t_control_visual.TimerFcn = @ControlCallback;
t_control_visual.Period = control_period/real_time_factor;
t_control_visual.StartDelay = 0.01;
t_control_visual.ExecutionMode = ‘fixedRate’;
start(t_control_visual)