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CM: Check if a valid time is received #1901
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1901 +/- ##
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- Coverage 87.59% 87.55% -0.04%
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Files 122 122
Lines 12766 12774 +8
Branches 1146 1147 +1
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+ Hits 11182 11184 +2
- Misses 1155 1161 +6
Partials 429 429
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Personally I would throw an error! Probably we can do that in the constructor of the CM?
Haven't tried that but there are SE answers that clock()->now() with sim_time is always zero in the constructor of a node. |
We could just use the time argument instead, and maybe use a throttled/once warning? |
This definitively fixes the issues I recently faced, thank you for fixing that. Regarding the discussion I think it's good to be verbose about this. A throttled warning seems suitable in my opinion. But it would be good if the warning could point users to how to actually fix that problem if it occurs. |
I just realized that we cannot use the throttle as the clock is not working |
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Sounds fine!
Just some minor changes
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
This reverts commit 5ee083c.
Co-authored-by: Felix Exner (fexner) <exner@fzi.de>
This pull request is in conflict. Could you fix it @christophfroehlich? |
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Tested this locally with both, a /clock topic present and not. The result was as expected and the output is helpful in case of the missing clock topic.
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Some changes that might bring back the failing tests.
Sorry, it got mixed up with my Diagnostics update.
Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
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Thanks
With use_sim_time=true but nothing received on /clock topic, we get a not so nice exception
ros-controls/gz_ros2_control#439
Not sure if we should escalate and throw an error or spam the console with log output.