Synchronization issues with RealTimeScheduler

[张腾]

I want to implement network simulation (OMNeT++ as a network emulator receives the position information passed in the gazebo of the physical simulator), so I use ExtLowerEthernetInterface, and the use of this port requires the RealTimescheduler scheduling class. Although the role of RealTimescheduler is to simulate the time as close as possible to the time in the real world. Makes the simulation appear to be running in real time, but this still has some lag. How to erase or reduce this difference. Hope to get your help, thank you! ! !

ps: gazebo is time-driven