Fix clock state cached time to be a copy, not a reference.

[clalancette]

That is, in cache_last_msg(), we were just taking a shared_ptr reference. While this is pretty fast, it also means that any changes to that message would be reflected internally. Instead, make a new shared pointer out of that message when it comes in, which essentially causes this to be a copy.

Signed-off-by: Chris Lalancette clalancette@openrobotics.org

This should fix #2088 . FYI @fujitatomoya and @mjcarroll .

[mjcarroll]

LGTM wit CI!

[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows

[fujitatomoya]

@clalancette lgtm, let me try this fixes the flaky test since i can reproduce this issue my local environment. i want to make sure about this.

[clalancette]

@clalancette lgtm, let me try this fixes the flaky test since i can reproduce this issue my local environment. i want to make sure about this.

Yeah, that would be good to verify. It fixed it for me here, but I will note that test_time_source has another flaky bug in it that I need to track down (in the callbacks test).

[fujitatomoya]

@clalancette i tried 100 times and no failure observed on that test. thanks for the fix.

I will note that test_time_source has another flaky bug in it that I need to track down (in the callbacks test).

yeah, i am aware of that, i will post the issue so that we cannot miss it, lets track this with another issue.

on this PR, good to go with green CI 🚀

[clalancette]

@clalancette i tried 100 times and no failure observed on that test. thanks for the fix.

Thanks for double-checking!

yeah, i am aware of that, i will post the issue so that we cannot miss it, lets track this with another issue.

Sounds good. I'll open one later today.

[clalancette]

CI is green here, so merging this in. Thanks for the reviews.