changed wall time to ros time for calculating of passthrough odom rate

ctu-mrs · Jan 2, 2025 · 79fd7f1 · 79fd7f1
1 parent 2eca095
commit 79fd7f1
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/include/mrs_uav_state_estimators/estimators/state/passthrough.h b/include/mrs_uav_state_estimators/estimators/state/passthrough.h
@@ -55,7 +55,7 @@ class Passthrough : public mrs_uav_managers::StateEstimator {
   ros::Timer       timer_check_passthrough_odom_hz_;
   void             timerCheckPassthroughOdomHz(const ros::TimerEvent &event);
   std::atomic<int> counter_odom_msgs_ = 0;
-  ros::WallTime    t_check_hz_last_;
+  ros::Time        t_check_hz_last_;
   double           prev_avg_hz_ = 0;
   bool             kickoff_     = false;
 

diff --git a/src/estimators/state/passthrough.cpp b/src/estimators/state/passthrough.cpp
@@ -49,7 +49,7 @@ void Passthrough::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<C
   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_, &Passthrough::callbackPassthroughOdom, this);
 
   // | ------------------ timers initialization ----------------- |
-  t_check_hz_last_                 = ros::WallTime::now();
+  t_check_hz_last_                 = ros::Time::now();
   prev_avg_hz_                     = 0;
   timer_check_passthrough_odom_hz_ = nh.createTimer(ros::Rate(1.0), &Passthrough::timerCheckPassthroughOdomHz, this);
 
@@ -156,7 +156,7 @@ void Passthrough::timerCheckPassthroughOdomHz([[maybe_unused]] const ros::TimerE
 
     // calculate average rate of messages
     if (counter_odom_msgs_ > 0) {
-      ros::WallTime t_now  = ros::WallTime::now();
+      ros::Time t_now  = ros::Time::now();
       double        dt     = (t_now - t_check_hz_last_).toSec();
       double        avg_hz = counter_odom_msgs_ / dt;
       t_check_hz_last_     = t_now;