Skip to content

fix: Retrieving ros time to work with newer ROS 2 versions #64

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: ros2
Choose a base branch
from
Open

fix: Retrieving ros time to work with newer ROS 2 versions #64

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions src/ros_vrpn_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -289,7 +289,7 @@ void inline getTimeStamp(
switch (nh->timestamping_system) {
case kTrackerStamp: {
// Retreiving current ROS Time
rclcpp::Time ros_stamp = nh->get_clock()->now();
rclcpp::Time ros_stamp = nh->now();
// Calculating the difference between the tracker attached timestamp and
// the current ROS time.
rclcpp::Duration time_diff = vicon_stamp - ros_stamp;
Expand All @@ -310,14 +310,14 @@ void inline getTimeStamp(
rclcpp::Duration time_diff_corrected = ros_stamp - vicon_stamp_corrected;
static const int kMaxMessagePeriod = 2000;
RCLCPP_WARN_STREAM_THROTTLE(
nh->get_logger(), *nh->get_clock(), kMaxMessagePeriod,
nh->get_logger(), *nh, kMaxMessagePeriod,
"Time delay: " << time_diff_corrected.seconds());
}
break;
}
case kRosStamp: {
// Just attach the current ROS timestamp
*timestamp = nh->get_clock()->now();
*timestamp = nh->now();
break;
}
}
Expand Down