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Clock server as nodelet

I have a nodelet that should act as clock server when it is started in simulation mode.

My problem is that if I set "usesimtime" to true the "nodelet_manager" does not start because there is no clock source until my nodelet is started.

How can I solve this "snake biting its tale" problem?

Asked by Myzhar on 2018-08-21 08:36:17 UTC

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Answers

  1. Set use_sim_time = false
  2. Start nodelet_manager
  3. Set use_sim_time = true
  4. Load clock server nodelet into nodelet_manager

Asked by RaphvK on 2020-02-20 11:15:31 UTC

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https://github.com/ros/ros_comm/issues/1492 describes this (posted a day later, a link back to this question would have been nice), and then there was a PR fix https://github.com/ros/ros_comm/pull/1638 to use wall clock that was merged.

(Via https://github.com/stereolabs/zed-ros-wrapper/pull/763#issuecomment-888316925)

Asked by lucasw on 2021-07-29 10:18:54 UTC

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