rcl_jump_threshold does not disable forward jump #947
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- rolling binaries
- Version or commit hash:
- ros-rolling-rcl 4.0.0-1focal.20210921.175344
- DDS implementation:
- CycloneDDS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
Define a clock jump handler for your node, and set the forward threshold to 0, which according to rcl/time.h should disable forward jumps.
#include <functional>
#include "rclcpp/rclcpp.hpp"
class TestNode : public rclcpp::Node
{
private:
rclcpp::JumpHandler::SharedPtr jump_handler_;
public:
TestNode() : Node("test")
{
rcl_jump_threshold_t jump_threshold;
jump_threshold.on_clock_change = true;
jump_threshold.min_forward.nanoseconds = 0;
jump_threshold.min_backward.nanoseconds = -1;
jump_handler_ =
get_clock()->create_jump_callback(
nullptr,
std::bind(&TestNode::onJump, this, std::placeholders::_1), jump_threshold);
}
private:
void onJump(const rcl_time_jump_t & jump)
{
RCLCPP_INFO(this->get_logger(), "Jump of '%li'", jump.delta.nanoseconds);
}
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::shutdown();
return 0;
}
Compile and run with sim time
./jump --ros-args -p use_sim_time:=trueSimultaneously publish /clock messages:
import rclpy
from rclpy.qos import qos_profile_sensor_data
from rclpy.node import Node
from rosgraph_msgs.msg import Clock
class PublishClock(Node):
def __init__(self):
super().__init__('publish_clock')
self._pub = self.create_publisher(Clock, 'clock', qos_profile_sensor_data)
self._timer = self.create_timer(1.0, self._on_timer)
def _on_timer(self):
msg = Clock()
msg.clock = self.get_clock().now().to_msg()
self._pub.publish(msg)
rclpy.init()
rclpy.spin(PublishClock())Expected behavior
The callback is never called and there's no output.
Actual behavior
Output is written at every received /clock message.
Additional Information
Works as expected without sim time