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[Backport] Make TimeSource ignore use_sim_time events coming from other nodes (#799) #803

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Jul 30, 2019
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[Backport] Make TimeSource ignore use_sim_time events coming from other nodes (#799) #803

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6 changes: 5 additions & 1 deletion rclcpp/src/rclcpp/time_source.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,13 +220,17 @@ void TimeSource::destroy_clock_sub()

void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
{
// Filter out events on 'use_sim_time' parameter instances in other nodes.
if (event->node != node_base_->get_fully_qualified_name()) {
return;
}
// Filter for only 'use_sim_time' being added or changed.
rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"},
{rclcpp::ParameterEventsFilter::EventType::NEW,
rclcpp::ParameterEventsFilter::EventType::CHANGED});
for (auto & it : filter.get_events()) {
if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
RCLCPP_ERROR(logger_, "use_sim_time parameter set to something besides a bool");
RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
continue;
}
if (it.second->value.bool_value) {
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