Use node to create clock used to stamp publications (#407)

ros2 · Jun 12, 2019 · f15d0ea · f15d0ea
1 parent b2b9aa8
commit f15d0ea
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diff --git a/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp b/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp
@@ -64,6 +64,7 @@ class RosNodeAbstractionIface
   get_topic_names_and_types() const = 0;
 
   // TODO(anhosi): remove once the RosNodeAbstraction is extended to handle subscriptions
+  //               and clock
   virtual rclcpp::Node::SharedPtr
   get_raw_node() = 0;
 };

diff --git a/rviz_common/src/rviz_common/visualization_frame.cpp b/rviz_common/src/rviz_common/visualization_frame.cpp
@@ -325,7 +325,7 @@ void VisualizationFrame::initialize(
   //                render_panel and VisualizationManager
   render_panel_->getRenderWindow()->initialize();
 
-  auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
+  auto clock = rviz_ros_node.lock()->get_raw_node()->get_clock();
   manager_ = new VisualizationManager(render_panel_, rviz_ros_node, this, clock);
   manager_->setHelpPath(help_path_);
   panel_factory_ = new PanelFactory(rviz_ros_node_, manager_);