Commits on Sep 8, 2023

1. Fix the return type of Rate::period. …

   In a recent commit (bc43577),
   we reworked how the Rate class worked so it could be
   used with ROS time as well.  Unfortunately, we also
   accidentally broke the API of it by changing the return
   type of Rate::period to a Duration instead of a
   std::chrono::nanoseconds .  Put this back to a std::chrono::nanoseconds;
   if we want to change it to a Duration, we'll have to
   add a new method and deprecate this one.
   
   Signed-off-by: Chris Lalancette <clalancette@gmail.com>

   

   clalancette committed Sep 8, 2023
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