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Put time back to ROS 1 time for now #1017

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Merged
merged 1 commit into from
Nov 7, 2025
Merged

Put time back to ROS 1 time for now #1017

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4 changes: 2 additions & 2 deletions src/actionlib/Goal.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -41,8 +41,8 @@ export default class Goal<T> extends EventEmitter {
this.goalMessage = {
goal_id: {
stamp: {
sec: 0,
nsec: 0,
secs: 0,
nsecs: 0,
},
id: this.goalID,
},
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8 changes: 4 additions & 4 deletions src/actionlib/SimpleActionServer.ts
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Expand Up @@ -97,7 +97,7 @@ export default class SimpleActionServer<
// Track the goals and their status in order to publish status...
this.statusMessage = {
header: {
stamp: { sec: 0, nsec: 100 },
stamp: { secs: 0, nsecs: 100 },
frame_id: "",
},
/** @type {{goal_id: any, status: number}[]} */
Expand Down Expand Up @@ -143,8 +143,8 @@ export default class SimpleActionServer<
cancelListener.subscribe((cancelMessage) => {
// cancel ALL goals if both empty
if (
cancelMessage.stamp.sec === 0 &&
cancelMessage.stamp.nsec === 0 &&
cancelMessage.stamp.secs === 0 &&
cancelMessage.stamp.nsecs === 0 &&
cancelMessage.id === ""
) {
this.nextGoal = null;
Expand Down Expand Up @@ -189,7 +189,7 @@ export default class SimpleActionServer<
);
this.statusMessage.header = {
...this.statusMessage.header,
stamp: { sec: secs, nsec: nsecs },
stamp: { secs, nsecs },
};
statusPublisher.publish(this.statusMessage);
}, 500); // publish every 500ms
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2 changes: 1 addition & 1 deletion src/types/actionlib_msgs.ts
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Expand Up @@ -4,7 +4,7 @@ import { GoalStatus as GoalStatusEnum } from "../core/GoalStatus.js";
export namespace actionlib_msgs {
export interface GoalID {
id: string;
stamp: { sec: number; nsec: number };
stamp: std_msgs.time;
}
export interface GoalStatus {
goal_id: GoalID;
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7 changes: 6 additions & 1 deletion src/types/std_msgs.ts
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Expand Up @@ -2,7 +2,12 @@ export namespace std_msgs {
// rosbridge fills this in with defaults if you leave them unspecified, which is common in roslibjs code, so we artificially make it a Partial
export type ROS1Header = Partial<{
seq: number;
stamp: { sec: number; nsec: number };
stamp: time;
frame_id: string;
}>;
// This is ROS 1 time. It is rectified to ROS 2 time by rosbridge_suite in-transit. We'll switch this to ROS 2 time when we drop ROS 1 support.
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@sea-bass sea-bass Nov 7, 2025

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Good comment

export interface time {
secs: number;
nsecs: number;
}
}