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use SteadyTimer in message_filters #1247

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merged 1 commit into from
Dec 19, 2017
Merged

use SteadyTimer in message_filters #1247

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10 changes: 5 additions & 5 deletions utilities/message_filters/include/message_filters/time_sequencer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ class TimeSequencer : public SimpleFilter<M>
* \param delay The minimum time to hold a message before passing it through.
* \param update_rate The rate at which to check for messages which have passed "delay"
* \param queue_size The number of messages to store
* \param nh (optional) The NodeHandle to use to create the ros::Timer that runs at update_rate
* \param nh (optional) The NodeHandle to use to create the ros::SteadyTimer that runs at update_rate
*/
template<class F>
TimeSequencer(F& f, ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh = ros::NodeHandle())
Expand All @@ -105,7 +105,7 @@ class TimeSequencer : public SimpleFilter<M>
* \param delay The minimum time to hold a message before passing it through.
* \param update_rate The rate at which to check for messages which have passed "delay"
* \param queue_size The number of messages to store
* \param nh (optional) The NodeHandle to use to create the ros::Timer that runs at update_rate
* \param nh (optional) The NodeHandle to use to create the ros::SteadyTimer that runs at update_rate
*/
TimeSequencer(ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh = ros::NodeHandle())
: delay_(delay)
Expand Down Expand Up @@ -213,22 +213,22 @@ class TimeSequencer : public SimpleFilter<M>
}
}

void update(const ros::TimerEvent&)
void update(const ros::SteadyTimerEvent&)
{
dispatch();
}

void init()
{
update_timer_ = nh_.createTimer(update_rate_, &TimeSequencer::update, this);
update_timer_ = nh_.createSteadyTimer(ros::WallDuration(update_rate_.toSec()), &TimeSequencer::update, this);
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Can WallDuration really not be initialized from a Duration? That seems like an API fail.

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IIRC it can't... but I didn't check that again and did it explicitly just to be sure...

}

ros::Duration delay_;
ros::Duration update_rate_;
uint32_t queue_size_;
ros::NodeHandle nh_;

ros::Timer update_timer_;
ros::SteadyTimer update_timer_;

Connection incoming_connection_;

Expand Down