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Couple of things I can think of:

• ODE quickstep's parameter RANDOMLY_REORDER_CONSTRAINTS is set to true by default, unfortunately, it's not changeable without recompiling right now, but we can make that a configurable option down the road.
• Other than that, physics and sensor generation are on separate threads (see Server::run()), so they are not synchronized.
• Lastly, if your navigation code is running in its own process, it might not be synchronized with physics update and sensor generation as well.

Hope this helps. John

Couple of things I can think of:

• ODE quickstep's parameter RANDOMLY_REORDER_CONSTRAINTS is set to true by default, unfortunately, it's not changeable without recompiling right now, but we can make that a configurable option down the road.
• Other than that, physics and sensor generation are on separate threads (see Server::run()), so they are not synchronized.
• Lastly, if your navigation code is running in its own process, it might not be synchronized with physics update and sensor generation as well.

To synchronize,

• Without actually doing it, I imagine one could probably serialize World::Run() and merge it into the same while loop as sensors::run_once(true) inside of Server::run().
• Also, one way to synchronize navigation and simulation is by putting navigation codes inside a plugin and connect its updates to gazebo::event::Events::ConnectWorldUpdateStart(...) to synchronize it with simulation.

Hope this helps. John