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rate.sleep will sometimes return slightly early from a sleep #190

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tfoote opened this issue Dec 18, 2015 · 4 comments
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rate.sleep will sometimes return slightly early from a sleep #190

tfoote opened this issue Dec 18, 2015 · 4 comments

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@tfoote
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tfoote commented Dec 18, 2015

I was working on the unit tests with @gerkey for rate.sleep and expected the sleep to not return before expected.

On repeated runs it had a jitter on the order of 10us. (The printout is in nanoseconds. and the expected duration is 100 ms

Console output of observed delta: https://gist.github.com/tfoote/0ec473b38bc517d12779

We added an epsilon to the unit tests for now (#182), but we should review our code to make it as consistent as with the assumptions of developers who are used to calling the standard sleep methods.
@gerkey gerkey mentioned this issue Dec 18, 2015
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@jacquelinekay
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Is the console output from Linux?

@gerkey
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gerkey commented Jan 8, 2016

This problem was fixed in the test, in #191.

@gerkey gerkey closed this as completed Jan 8, 2016
@jacquelinekay
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But the issue that Rate::sleep wakes up 10 microseconds early still persists, right?

@gerkey
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gerkey commented Jan 8, 2016

Nope, it was working properly the whole time. The bug was in the test, which caused the addition of the epsilon workaround mentioned here. But then the test was fixed and the workaround removed.

nnmm pushed a commit to ApexAI/rclcpp that referenced this issue Jul 9, 2022
@mikaelarguedas
Waitset member allocation use rmw types (ros2#190)
80e500b 
* allocate memory for rmw types and not rcl types in waitset RMW storage

* zero initialize memory on resize and clear

* add missing void * cast to make windows happy

* set mem after checking successful alloc and use right type for rmw storage

* another instance of cast to (rmw_ ## Type ## _t *) instead of (void *)
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this issue Aug 5, 2022
@hidmic
Import rosbag2_transport Python module on demand (ros2#190)
57ee61d 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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@tfoote @jacquelinekay @gerkey