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Fix comparison of different time sources in C++ TimeSequencer #202

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Merged
merged 3 commits into from
Oct 3, 2025
Merged

Fix comparison of different time sources in C++ TimeSequencer #202

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69519f1
Fix different time sources in TimeSequencer
johboe Sep 7, 2025
08ddd11
Initializes clock type in test of TimeSequencer as RCL_ROS_TIME
johboe Sep 7, 2025
afc4871
Fix errors in tests regarding clock type and code style
johboe Sep 7, 2025
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8 changes: 6 additions & 2 deletions include/message_filters/time_sequencer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ class TimeSequencer : public SimpleFilter<M>
, update_rate_(update_rate)
, queue_size_(queue_size)
, node_(node)
, last_time_ (0, 0, RCL_ROS_TIME)
{
init();
connectInput(f);
Expand All @@ -118,6 +119,7 @@ class TimeSequencer : public SimpleFilter<M>
, update_rate_(update_rate)
, queue_size_(queue_size)
, node_(node)
, last_time_ (0, 0, RCL_ROS_TIME)
{
init();
}
Expand Down Expand Up @@ -199,7 +201,7 @@ class TimeSequencer : public SimpleFilter<M>
while (!messages_.empty()) {
const EventType & e = *messages_.begin();
rclcpp::Time stamp = mt::TimeStamp<M>::value(*e.getMessage());
if ((stamp + delay_) <= rclcpp::Clock().now()) {
if ((stamp + delay_) <= node_->get_clock()->now()) {
last_time_ = stamp;
to_call.push_back(e);
messages_.erase(messages_.begin());
Expand All @@ -220,7 +222,9 @@ class TimeSequencer : public SimpleFilter<M>

void init()
{
update_timer_ = node_->create_wall_timer(
update_timer_ = rclcpp::create_timer(
node_,
node_->get_clock(),
std::chrono::nanoseconds(update_rate_.nanoseconds()), [this]() {
dispatch();
});
Expand Down
2 changes: 1 addition & 1 deletion test/test_fuzz.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ TEST(TimeSequencer, fuzz_sequencer)
10, node);
Helper h;
seq.registerCallback(std::bind(&Helper::cb, &h, std::placeholders::_1));
rclcpp::Clock ros_clock;
rclcpp::Clock ros_clock(RCL_ROS_TIME);
auto start = ros_clock.now();
auto msg = std::make_shared<Msg>();
while ((ros_clock.now() - start) < rclcpp::Duration(5, 0)) {
Expand Down
6 changes: 3 additions & 3 deletions test/time_sequencer_unittest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ struct TimeStamp<Msg>
{
static rclcpp::Time value(const Msg & m)
{
return m.header.stamp;
return rclcpp::Time(m.header.stamp, RCL_ROS_TIME);
}
};
} // namespace message_traits
Expand Down Expand Up @@ -86,7 +86,7 @@ TEST(TimeSequencer, simple)
Helper h;
seq.registerCallback(std::bind(&Helper::cb, &h, std::placeholders::_1));
MsgPtr msg(std::make_shared<Msg>());
msg->header.stamp = rclcpp::Clock().now();
msg->header.stamp = rclcpp::Clock(RCL_ROS_TIME).now();
seq.add(msg);

rclcpp::Rate(10).sleep();
Expand Down Expand Up @@ -137,7 +137,7 @@ TEST(TimeSequencer, eventInEventOut)
seq2.registerCallback(&EventHelper::cb, &h);

message_filters::MessageEvent<Msg const> evt(std::make_shared<Msg const>(),
rclcpp::Clock().now());
rclcpp::Clock(RCL_ROS_TIME).now());
seq.add(evt);

while (!h.event_.getMessage()) {
Expand Down