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Make TimeSource ignore use_sim_time events coming from other nodes. (#799)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Michel Hidalgo 2019-07-29 16:57:51 -03:00 • committed by GitHub
parent 9aacc6d895
commit 9be3e08cd4
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1 changed files with 5 additions and 1 deletions
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6
rclcpp/src/rclcpp/time_source.cpp
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@ -220,13 +220,17 @@ void TimeSource::destroy_clock_sub()
void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event) void TimeSource::on_parameter_event(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
{ {
// Filter out events on 'use_sim_time' parameter instances in other nodes.
if (event->node != node_base_->get_fully_qualified_name()) {
return;
}
// Filter for only 'use_sim_time' being added or changed. // Filter for only 'use_sim_time' being added or changed.
rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"}, rclcpp::ParameterEventsFilter filter(event, {"use_sim_time"},
{rclcpp::ParameterEventsFilter::EventType::NEW, {rclcpp::ParameterEventsFilter::EventType::NEW,
rclcpp::ParameterEventsFilter::EventType::CHANGED}); rclcpp::ParameterEventsFilter::EventType::CHANGED});
for (auto & it : filter.get_events()) { for (auto & it : filter.get_events()) {
if (it.second->value.type != ParameterType::PARAMETER_BOOL) { if (it.second->value.type != ParameterType::PARAMETER_BOOL) {
RCLCPP_ERROR(logger_, "use_sim_time parameter set to something besides a bool"); RCLCPP_ERROR(logger_, "use_sim_time parameter cannot be set to anything but a bool");
continue; continue;
} }
if (it.second->value.bool_value) { if (it.second->value.bool_value) {