World State Payload

afWorld State Message

There exists a single instance of simulation World called afWorld. Similar to afObjects, afWorld is controllable using ambf_msgs/afWorldCmd message and relays its state using the ambf_msgs/afWorldState message.

WorldState Payload	Description
header	The ROS message header includes seq_number, time_stamp and frame_id. frame_id not used for now
dynamic_loop_freq	The frequency of underlying pyhsics solver loop
n_devices	The number of haptics/input devices currently connected AMBF Simulator
sim_step	The number of simulation steps of the physics solver. This keeps incrementing
wall_time	The System Clock (Wall Clock) in seconds
sim_time	The time of the physics simulation. For RT sim_time == wall_time