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use ros clock for wait #3782

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merged 2 commits into from
Aug 29, 2023
Merged

use ros clock for wait #3782

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e050666
use ROS clock for wait
Aug 29, 2023
47569a2
fix backport issue
Aug 29, 2023
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2 changes: 1 addition & 1 deletion nav2_behaviors/include/nav2_behaviors/plugins/wait.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ class Wait : public TimedBehavior<WaitAction>
CostmapInfoType getResourceInfo() override {return CostmapInfoType::LOCAL;}

protected:
std::chrono::time_point<std::chrono::steady_clock> wait_end_;
rclcpp::Time wait_end_;
WaitAction::Feedback::SharedPtr feedback_;
};

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12 changes: 5 additions & 7 deletions nav2_behaviors/plugins/wait.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,21 +30,19 @@ Wait::~Wait() = default;

ResultStatus Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
{
wait_end_ = std::chrono::steady_clock::now() +
rclcpp::Duration(command->time).to_chrono<std::chrono::nanoseconds>();
wait_end_ = node_.lock()->now() + rclcpp::Duration(command->time);
return ResultStatus{Status::SUCCEEDED};
}

ResultStatus Wait::onCycleUpdate()
{
auto current_point = std::chrono::steady_clock::now();
auto time_left =
std::chrono::duration_cast<std::chrono::nanoseconds>(wait_end_ - current_point).count();
auto current_point = node_.lock()->now();
auto time_left = wait_end_ - current_point;

feedback_->time_left = rclcpp::Duration(rclcpp::Duration::from_nanoseconds(time_left));
feedback_->time_left = time_left;
action_server_->publish_feedback(feedback_);

if (time_left > 0) {
if (time_left.nanoseconds() > 0) {
return ResultStatus{Status::RUNNING};
} else {
return ResultStatus{Status::SUCCEEDED};
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