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rclcpp::Rate doesn't use ROS time (use_sim_time)

asked 2019-03-25 18:30:19 -0500

clyde gravatar image

It appears that rclcpp::Rate uses std::chrono::system_clock, which of course doesn't use ROS time, so it doesn't honor use_sim_time.

Any plans to add a version of Rate that uses ROS time?

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answered 2019-03-25 19:32:11 -0500

tfoote gravatar image

Yes it's ticketed at: https://github.com/ros2/rclcpp/issues... If anyone has time to help out with a proposed implementation it would be appreciated.

There's several other related enhancements we're tracking at: https://github.com/ros2/ros2/issues/530

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Asked: 2019-03-25 18:30:19 -0500

Seen: 53 times

Last updated: Mar 25