use new SteadyTimer instead of WallTimer

ros · Mar 25, 2017 · 0fa28b5 · 0fa28b5
1 parent 434c89a
commit 0fa28b5
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/bondcpp/include/bondcpp/bond.h b/bondcpp/include/bondcpp/bond.h
@@ -164,15 +164,15 @@ class Bond
 
   ros::Subscriber sub_;
   ros::Publisher pub_;
-  ros::WallTimer publishingTimer_;
+  ros::SteadyTimer publishingTimer_;
 
   void onConnectTimeout();
   void onHeartbeatTimeout();
   void onDisconnectTimeout();
 
   void bondStatusCB(const bond::Status::ConstPtr &msg);
 
-  void doPublishing(const ros::WallTimerEvent &e);
+  void doPublishing(const ros::SteadyTimerEvent &e);
   void publishStatus(bool active);
 
   std::vector<boost::function<void(void)> > pending_callbacks_;

diff --git a/bondcpp/include/bondcpp/timeout.h b/bondcpp/include/bondcpp/timeout.h
@@ -51,12 +51,12 @@ class Timeout
 
 private:
   ros::NodeHandle nh_;
-  ros::WallTimer timer_;
+  ros::SteadyTimer timer_;
   ros::SteadyTime deadline_;
   ros::WallDuration duration_;
   boost::function<void(void)> on_timeout_;
 
-  void timerCallback(const ros::WallTimerEvent &e);
+  void timerCallback(const ros::SteadyTimerEvent &e);
 };
 
 

diff --git a/bondcpp/src/bond.cpp b/bondcpp/src/bond.cpp
@@ -174,7 +174,7 @@ void Bond::start()
   pub_ = nh_.advertise<bond::Status>(topic_, 5);
   sub_ = nh_.subscribe<bond::Status>(topic_, 30, boost::bind(&Bond::bondStatusCB, this, _1));
 
-  publishingTimer_ = nh_.createWallTimer(ros::WallDuration(heartbeat_period_), &Bond::doPublishing, this);
+  publishingTimer_ = nh_.createSteadyTimer(ros::WallDuration(heartbeat_period_), &Bond::doPublishing, this);
   started_ = true;
 }
 
@@ -330,7 +330,7 @@ void Bond::bondStatusCB(const bond::Status::ConstPtr &msg)
   }
 }
 
-void Bond::doPublishing(const ros::WallTimerEvent &)
+void Bond::doPublishing(const ros::SteadyTimerEvent &)
 {
   boost::mutex::scoped_lock lock(mutex_);
   if (sm_.getState().getId() == SM::WaitingForSister.getId() ||

diff --git a/bondcpp/src/timeout.cpp b/bondcpp/src/timeout.cpp
@@ -62,7 +62,7 @@ void Timeout::setDuration(const ros::WallDuration &d)
 void Timeout::reset()
 {
   timer_.stop();
-  timer_ = nh_.createWallTimer(duration_, &Timeout::timerCallback, this, true);
+  timer_ = nh_.createSteadyTimer(duration_, &Timeout::timerCallback, this, true);
   deadline_ = ros::SteadyTime::now() + duration_;
 }
 
@@ -76,7 +76,7 @@ ros::WallDuration Timeout::left()
   return std::max(ros::WallDuration(0.0), deadline_ - ros::SteadyTime::now());
 }
 
-void Timeout::timerCallback(const ros::WallTimerEvent &)
+void Timeout::timerCallback(const ros::SteadyTimerEvent &)
 {
   if (on_timeout_)
     on_timeout_();