fix device time #129
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fix device time #129
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mikeferguson
commented
Mar 3, 2023
| @@ -160,9 +160,6 @@ class OpenNI2Device | |||
| bool depth_video_started_; | |||
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| bool image_registration_activated_; | |||
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| bool use_device_time_; | |||
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this is unused - removing it does break ABI - but these packages haven't even been synced out yet
mikeferguson
commented
Mar 3, 2023
| @@ -53,7 +53,7 @@ def generate_launch_description(): | |||
| plugin='openni2_wrapper::OpenNI2Driver', | |||
| name='driver', | |||
| parameters=[{'depth_registration': True}, | |||
| {'use_device_time': False}], | |||
| {'use_device_time': True}], | |||
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this puts our example launch files more in line with ROS1 usage - where use_device_time was enabled by default
mikeferguson
commented
Mar 3, 2023
| { | ||
| image->header.stamp = ros_now; | ||
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| RCLCPP_DEBUG(rclcpp::get_logger("openni2"), "Time interval between frames: %.4f ms", (float)((ros_now - prev_time_stamp_).nanoseconds() / 1e6)); | ||
| RCLCPP_DEBUG(rclcpp::get_logger("openni2"), "Time interval between frames: %.4f ms", | ||
| (float)((ros_now.nanoseconds() - prev_time_stamp_.nanoseconds()) / 1e6)); |
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this needs to be X.nanoseconds() - Y.nanoseconds() because if you switch between use_device_time and not, you will get an std::runtime_error that the clock sources are different
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CI failure is only because of ABI change - which was expected due to fixing the name of a variable, and removing another unused one |
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closes #121