Duration cast for clocks with poor resolutions

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>
ros2 · Dec 13, 2021 · 4fe3c8d · 4fe3c8d
1 parent 0a0c5a3
commit 4fe3c8d
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/rclpy/src/rclpy/event.cpp b/rclpy/src/rclpy/event.cpp
@@ -44,8 +44,10 @@ void Event::wait_until(std::shared_ptr<Clock> clock, rcl_time_point_t until)
     throw RCLError("failed to subtract times");
   }
 
-  const typename ClockType::time_point chrono_until =
-    chrono_entry + std::chrono::nanoseconds(delta_t.nanoseconds);
+  // Cast because system clock resolution is be too big for nanoseconds on Windows & OSX
+  const typename ClockType::time_point chrono_until = chrono_entry +
+    std::chrono::duration_cast<typename ClockType::duration>(
+      std::chrono::nanoseconds(delta_t.nanoseconds));
 
   // Could be a long wait, release the gil
   py::gil_scoped_release release;