How do you simulate latency?

Gazebo Gazebo General
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Did someone already do something regarding simulating latency (or even jitter) in sensor data and control commands?

I think the obvious approach when you work with ROS is to implement something like topic_tools/delay and plug it behind the bridge. However, that seems to massively increase the number of topics, making it very error-prone to pick the right one…

I can imagine a similar mechanism on the gz-transport side, that would at least help with the number of ROS topics. But isn’t there something even closer to the simulation?

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Are you talking about modeling latency for RL training? If so, we don’t use ROS for that, we have our latencies baked into the model inputs and outputs.

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Not necessarily RL training. I’m talking about CI pipelines, PID tuning and general use.

So your model basically has a queue for each input/output?