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Use rclcpp::Time for stamping transforms #20

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Jun 10, 2019
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Use rclcpp::Time for stamping transforms #20

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6091b7e
Use rclcpp::Time for stamping transforms
cottsay May 23, 2019
dfe4a4b
Use std::chrono constructor to represent 0.5 sec
cottsay Jun 10, 2019
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1 change: 1 addition & 0 deletions include/robot_state_publisher/robot_state_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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_;
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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.

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It probably makes sense to break ABI and release this to Dashing, see also #21.

};

} // namespace robot_state_publisher
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11 changes: 5 additions & 6 deletions src/robot_state_publisher.cpp
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Expand Up @@ -76,7 +76,8 @@ RobotStatePublisher::RobotStatePublisher(
: model_(model),
tf_broadcaster_(node_handle),
static_tf_broadcaster_(node_handle),
description_published_(false)
description_published_(false),
clock_(node_handle->get_clock())
{
// walk the tree and add segments to segments_
addChildren(tree.getRootSegment());
Expand Down Expand Up @@ -160,13 +161,11 @@ void RobotStatePublisher::publishFixedTransforms(const std::string & tf_prefix,
// loop over all fixed segments
for (auto seg = segments_fixed_.begin(); seg != segments_fixed_.end(); seg++) {
geometry_msgs::msg::TransformStamped tf_transform = kdlToTransform(seg->second.segment.pose(0));
std::chrono::nanoseconds now = std::chrono::high_resolution_clock::now().time_since_epoch();
rclcpp::Time now = clock_->now();
if (!use_tf_static) {
now += std::chrono::milliseconds(500); // 0.5sec in NS
now = now + rclcpp::Duration(std::chrono::milliseconds(500)); // 0.5sec in NS
}
tf_transform.header.stamp.sec =
static_cast<builtin_interfaces::msg::Time::_sec_type>(now.count() / 1000000000);
tf_transform.header.stamp.nanosec = now.count() % 1000000000;
tf_transform.header.stamp = now;

tf_transform.header.frame_id = tf_prefix + "/" + seg->second.root;
tf_transform.child_frame_id = tf_prefix + "/" + seg->second.tip;
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