Merged in NRRPLT-8342-add-lockstep-support (pull request #141)

[NRRPLT-8342] Add support for EXC <gazeboLockstep> element.

Approved-by: Eloy Retamino
Approved-by: Vahid Zolfaghari
Approved-by: Viktor Vorobev

hbp_nrp_cleserver/hbp_nrp_cleserver/server/GazeboSimulationAssembly.py

@@ -114,7 +114,8 @@ class GazeboSimulationAssembly(SimulationAssembly):     # pragma: no cover
         self.gzserver.gazebo_died_callback = self._handle_gazebo_shutdown
 
         # experiment specific gzserver command line arguments
-        gzserver_args = '--seed {rng_seed} -e {engine} {world_file}'.format(
+        gzserver_args = '{lockstep} --seed {rng_seed} -e {engine} {world_file}'.format(
+            lockstep='--lockstep' if self.sim_config.gazebo_lockstep else '',
             rng_seed=self.rng_seed, engine=self.sim_config.physics_engine,
             world_file=self.sim_config.world_model.resource_path.abs_path)
 

hbp_nrp_commons/hbp_nrp_commons/sim_config/SimConfig.py

@@ -173,6 +173,7 @@ class SimConfig(object):
         self._rng_seed = params.get('rng_seed', None)
 
         self._playback_path = params.get('playback_path', None)
+        self._gazebo_lockstep = False
         self._physics_engine = None
 
         self._gzweb = None
@@ -327,6 +328,11 @@ class SimConfig(object):
         # Environment model
         self.get_world_model()
 
+        # gazebo's lockstep update feature
+        self._gazebo_lockstep = (self._exc_dom.gazeboLockstep
+                                 if self._exc_dom.gazeboLockstep is not None else False)
+        logger.info("Gazebo's lockstep mode set to %s", self._gazebo_lockstep)
+
         # physics engine
         self._physics_engine = (self._exc_dom.physicsEngine
                                 if self._exc_dom.physicsEngine is not None else 'ode')
@@ -556,6 +562,13 @@ class SimConfig(object):
         """
         return self._tfs
 
+    @property
+    def gazebo_lockstep(self):
+        """
+        Gets gazebo_lockstep argument
+        """
+        return self._gazebo_lockstep
+
     @property
     def physics_engine(self):
         """