Use rclcpp::Time for stamping transforms #20
Conversation
The motivation is that right now, `robot_state_publisher` doesn't respect `use_sim_time` at all.
|
nice. I won't have time to look at it before next week though. @chapulina could you give this a try and see if the laser update rate in RViz could be enhanced with it? THis might also be interesting for Karsten1987/confbot_robot#19 |
|
I don't think this will fix that issue, because I think @cottsay is still having the same issue even with this PR. |
|
FWIW, the changes here LGTM |
|
is this targeted for dashing or a patch release? |
This has missed the window for Dashing's initial release. |
| @@ -99,6 +99,7 @@ class RobotStatePublisher | |||
| std_msgs::msg::String model_xml_; | |||
| bool description_published_; | |||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr description_pub_; | |||
| rclcpp::Clock::SharedPtr clock_; | |||
There was a problem hiding this comment.
This breaks ABI by changing the size of RobotStatePublisher. This is fine for Eloquent, but is an issue for including in a dashing patch release. This bug might be important enough to warrant breaking ABI.
There was a problem hiding this comment.
It probably makes sense to break ABI and release this to Dashing, see also #21.
* Use rclcpp::Time for stamping transforms The motivation is that right now, `robot_state_publisher` doesn't respect `use_sim_time` at all. * Use std::chrono constructor to represent 0.5 sec
* Use rclcpp::Time for stamping transforms The motivation is that right now, `robot_state_publisher` doesn't respect `use_sim_time` at all. * Use std::chrono constructor to represent 0.5 sec
The motivation is that right now,
robot_state_publisherdoesn't respectuse_sim_timeat all.