updated correct timestamp GazeboYarpLaserSensorDriver

[ste93]

since Lidar2DDeviceBase has a timestamp inside and lasersensor inherits from it, I would suggest use the timestamp from taht class. It has also an api getLastInputStamp () to get that stamp.

[ste93]

@randaz81

[randaz81]

thank you, this was an important bugfix

[randaz81]

Additionally, since yarp 3.6 has been released, I think that we can safely remove the dependency from IPreceiselyTimed @traversaro https://github.com/robotology/gazebo-yarp-plugins/pull/604/files#diff-a33e9fff4431518b3add5ded498eae3af09ef01c83956d6fc6abd0a70de405b8R67-R70

REASON: in general IPreceiselyTimed interface should be avoided as much as possible, and possibly deprecated. Timestamps must be obtained together with the data using a single call to a get method(). Otherwise, it cannot be guaranteed that the timestamp is really associated with the retrieved data. (Threads can be interrupted etc.)

[traversaro]

Yes, feel free to remove the inheritance from IPreceiselyTimed and require YARP 3.6 as suggested by @randaz81 , thanks!

[ste93]

@randaz81 updated, for me it can be merged. FYI @traversaro

[traversaro]

@randaz81 updated, for me it can be merged. FYI @traversaro

To require YARP 3.6 you need to modify the CMake in https://github.com/robotology/gazebo-yarp-plugins/blob/master/CMakeLists.txt#L49 . Could you also update the CHANGELOG?

[ste93]

related to #598

[traversaro]

Thanks @ste93 .

[ste93]

thanks @traversaro