Consider simulated time #883
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Consider the simulated time in `CurrentStateMonitor::waitForCurrentState()`. Propagate the change in other packages and classes where necessary. Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
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Back-ported in foxy in 307e0cc (https://github.com/galou/moveit2/tree/sim_time_wait_state_foxy). |
| @@ -5,6 +5,7 @@ project(moveit_ros_planning_interface) | |||
| find_package(moveit_common REQUIRED) | |||
| moveit_package() | |||
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| find_package(backward_ros) | |||
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I added this to moveit_common. I think by doing that it is already here from the moveit_package() call on line 6.
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I'm sorry, I added this by mistake. I'll remove it but I first wait a bit if there is no other changes to carry out.
| boost::shared_lock<boost::shared_mutex> lock(scene_update_mutex_); | ||
| rclcpp::Time prev_robot_motion_time = last_robot_motion_time_; | ||
| while (last_robot_motion_time_ < t && // Wait until the state update actually reaches the scene. | ||
| timeout > std::chrono::seconds()) | ||
| timeout > rclcpp::Duration(0)) |
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CI is failing because of this line I believe. The rclcpp::Duration(double) constructor is deprecated. You should be able to get it to pass with this:
| timeout > rclcpp::Duration(0)) | |
| timeout > rclcpp::Duration::from_seconds(0)) |
or
| timeout > rclcpp::Duration(0)) | |
| timeout > rclcpp::Duration(0, 0)) |
Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
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This pull request is in conflict. Could you fix it @galou? |
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I fixed the merge conflict and re-triggered the CI jobs. I'll merge this once it passes. |
Codecov Report
@@ Coverage Diff @@
## main #883 +/- ##
==========================================
+ Coverage 60.81% 60.81% +0.01%
==========================================
Files 271 271
Lines 23815 23823 +8
==========================================
+ Hits 14481 14486 +5
- Misses 9334 9337 +3
Continue to review full report at Codecov.
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Consider the simulated time in
CurrentStateMonitor::waitForCurrentState().Propagate the change in other packages and classes where necessary.
Signed-off-by: Gaël Écorchard gael.ecorchard@cvut.cz
Description
I had an issue with very slow simulated time where the robot status was not received within 1s of system time. This PR should solve the issue. The behavior with non-emulated time should not change.
Checklist