From 4be6931c811422f16d95c1460c046f2540d1f628 Mon Sep 17 00:00:00 2001
From: Takeshi Ishita <ishitah.takeshi@gmail.com>
Date: Thu, 13 Oct 2022 13:54:59 +0900
Subject: [PATCH] refactor(ekf_localizer): simplify duration conversion (#2017)

---
 localization/ekf_localizer/src/ekf_localizer.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
index 19ed65fbbf03b..b8bcdf0f9f0eb 100644
--- a/localization/ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -23,6 +23,7 @@
 #include "ekf_localizer/state_transition.hpp"
 #include "ekf_localizer/warning.hpp"
 
+#include <rclcpp/duration.hpp>
 #include <rclcpp/logging.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 #include <tier4_autoware_utils/ros/msg_covariance.hpp>
@@ -80,14 +81,13 @@ EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOpti
   is_initialized_ = false;
 
   /* initialize ros system */
-  auto period_control_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(ekf_dt_));
   timer_control_ = rclcpp::create_timer(
-    this, get_clock(), period_control_ns, std::bind(&EKFLocalizer::timerCallback, this));
+    this, get_clock(), rclcpp::Duration::from_seconds(ekf_dt_),
+    std::bind(&EKFLocalizer::timerCallback, this));
 
-  const auto period_tf_ns = rclcpp::Rate(tf_rate_).period();
   timer_tf_ = rclcpp::create_timer(
-    this, get_clock(), period_tf_ns, std::bind(&EKFLocalizer::timerTFCallback, this));
+    this, get_clock(), rclcpp::Rate(tf_rate_).period(),
+    std::bind(&EKFLocalizer::timerTFCallback, this));
 
   pub_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>("ekf_pose", 1);
   pub_pose_cov_ =