Syncing Real-World Sensor Data with Gazebo Simulation

Hello

I am working on a robotics project where I need to synchronize real-world sensor data with a Gazebo simulation. The goal is to feed live sensor readings from a physical robot into Gazebo; allowing the simulated environment to reflect real-world conditions in real-time. :upside_down_face:

Currently, I am experimenting with ROS topics to stream data from IMUs, LiDAR & cameras, but I am facing challenges with latency and accuracy in data synchronization. :innocent: Sometimes, there is a noticeable delay in sensor updates &in other cases, the data does not align correctly with the simulated robot’s movements. I checked ROS Integration β€” Gazebo blueprint documentation selenium related to this and found it quite informative.

Has anyone successfully achieved real-time sensor integration with Gazebo? What are the best methods to minimize lag and ensure accurate synchronization? :thinking: Any insights on time-stamping strategies or middleware solutions would be highly appreciated.

Thank you !! :slightly_smiling_face:

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