use SteadyTimer in message_filters #1247
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mikepurvis
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Nov 24, 2017
| { | ||
| dispatch(); | ||
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| void init() | ||
| { | ||
| update_timer_ = nh_.createTimer(update_rate_, &TimeSequencer::update, this); | ||
| update_timer_ = nh_.createSteadyTimer(ros::WallDuration(update_rate_.toSec()), &TimeSequencer::update, this); |
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Can WallDuration really not be initialized from a Duration? That seems like an API fail.
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IIRC it can't... but I didn't check that again and did it explicitly just to be sure...
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LGTM. It's a behaviour change, but I'd vote for this go into Lunar. It's extremely unlikely someone would be depending on the current broken behaviour. That said, there's a potential ABI issue would be if a third party had message_filter class members, those will now change in type (though not in size, so maybe it wouldn't actually be a problem, since there's nothing to link?). |
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Thank you for the patch. |
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To make sure that the message filters also work if system time is set back, use SteadyTimer instead of the normal Timer