Changing to_chrono to use nanoseconds

[danwahl]

Previously std::chrono::seconds, which rounds to 0 if action_monitor_period_ < 1

[nbbrooks]

A related bugfix with JTC also resets the timer pointer so you don't end up creating multiple ones. We should do the same here - it's a shame noone caught the pattern being used here in gripper controller.

[destogl]

Thanks for this fix!

[codecov-commenter]

Codecov Report

Merging #507 (432ec83) into master (e7f9962) will decrease coverage by 3.31%.
The diff coverage is 26.60%.

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@@            Coverage Diff             @@
##           master     #507      +/-   ##
==========================================
- Coverage   35.78%   32.48%   -3.31%     
==========================================
  Files         189        7     -182     
  Lines       17570      665   -16905     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      216    -6071     
+ Misses        994      157     -837     
+ Partials    10289      292    -9997     

Flag	Coverage Δ
unittests	32.48% <26.60%> (-3.31%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	39.22% <35.50%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)
..._broadcaster/test/test_joint_state_broadcaster.cpp
...ontrollers/src/joint_group_position_controller.cpp
...ory_controller/src/joint_trajectory_controller.cpp
... and 191 more

[bmagyar]

Nice catch, thanks for the follow-up!

[bmagyar]

@Mergifyio backport to humble

[mergify]

backport to humble

✅ Backports have been created

• Backport to branch to failed: Branch not found
• #509 Changing to_chrono to use nanoseconds (backport #507) has been created for branch humble