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Change timer beginning behavior

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This commit is contained in:
Jackie Kay 2015-11-05 14:02:51 -08:00
parent ca64af3145
commit dcd5117f89
1 changed files with 2 additions and 3 deletions
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5
rclcpp/include/rclcpp/timer.hpp
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@ -97,9 +97,8 @@ public:
GenericTimer(std::chrono::nanoseconds period, CallbackType callback) GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
: TimerBase(period, callback), loop_rate_(period) : TimerBase(period, callback), loop_rate_(period)
{ {
/* Subtracting the loop rate period ensures that the callback gets triggered /* Set last_triggered_time_ so that the timer fires at least one period after being created. */
on the first call to check_and_trigger. */ last_triggered_time_ = Clock::now();
last_triggered_time_ = Clock::now() - period;
} }
/// Default destructor. /// Default destructor.