Make controller_manager set controller's use_sim_time param when use_sim_time=True #468
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bmagyar
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Jul 21, 2021
pac48
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Jan 26, 2024
…eak #behavior-break (ros-controls#468) Co-authored-by: Denis Štogl <denis@stoglrobotics.de>
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Per discussion in #325 , I have added a few lines to
controller_manager.cppto set the controller node'suse_sim_timeparameter to match thecontroller_manager's when it is set totrue. AnINFOmessage is printed when this occurs to let the user know.I added this code to the
add_controller_impl()function, as this is where controller nodes are added to the executor, but if this was the wrong place to do so, please let me know.That said, this code passes all tests, and works as expected in my own demo applications, loading via launch, setting different controller states, unloading and reloading.