add steady clock to nodes

StoglRobotics-forks · Jun 14, 2023 · a9a5998 · a9a5998
1 parent 59de6ff
commit a9a5998
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Showing 4 changed files with 6 additions and 0 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -518,6 +518,7 @@ void ControllerManager::init_distributed_sub_controller_manager()
   {
     // create node for publishing/subscribing
     rclcpp::NodeOptions node_options;
+    node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
     distributed_pub_sub_node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
       std::string(get_name()) + "_pub_sub_node", get_namespace(), node_options, false);
     //try to add to executor
@@ -567,6 +568,7 @@ void ControllerManager::init_distributed_central_controller_manager()
   if (!use_multiple_nodes())
   {
     rclcpp::NodeOptions node_options;
+    node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
     distributed_pub_sub_node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
       std::string(get_name()) + "_pub_sub_node", get_namespace(), node_options, false);
     //try to add to executor

diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
@@ -203,6 +203,7 @@ class DistributedReadOnlyHandle : public ReadOnlyHandle
     if (!node_.get())
     {
       rclcpp::NodeOptions node_options;
+      node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
       node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
         get_underscore_separated_name() + "_state_interface_subscriber", namespace_, node_options,
         false);
@@ -354,6 +355,7 @@ class DistributedReadWriteHandle : public ReadWriteHandle
     if (!node_.get())
     {
       rclcpp::NodeOptions node_options;
+      node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
       node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
         get_underscore_separated_name() + "_distributed_command_interface", namespace_,
         node_options, false);

diff --git a/...ware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp b/...ware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp
@@ -27,6 +27,7 @@ CommandForwarder::CommandForwarder(
   if (!node_.get())
   {
     rclcpp::NodeOptions node_options;
+    node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
     node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
       loaned_command_interface_ptr_->get_underscore_separated_name() + "_command_forwarder",
       namespace_, node_options, false);

diff --git a/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp b/hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp
@@ -27,6 +27,7 @@ StatePublisher::StatePublisher(
   if (!node_.get())
   {
     rclcpp::NodeOptions node_options;
+    node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME);
     node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
       loaned_state_interface_ptr_->get_underscore_separated_name() + "_state_publisher", namespace_,
       node_options, false);