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Use rosgraph_msgs/Clock for /clock topic.#474

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mikaelarguedas merged 2 commits intoros2:masterfrom
ernestmc:use_rosgraph_clock
May 30, 2018
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Use rosgraph_msgs/Clock for /clock topic.#474
mikaelarguedas merged 2 commits intoros2:masterfrom
ernestmc:use_rosgraph_clock

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@ernestmc ernestmc commented May 16, 2018 •
edited by mikaelarguedas
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Addresses issue #473
Use rosgraph_msgs/Clock message for /clock topic instead of builtin_interfaces/Time to be compatible with ROS1.
This is needed for the ros1_bridge to effectively map /clock message when using Gazebo.

connects to #473

@ernestmc ernestmc added the in progress Actively being worked on (Kanban column) label May 16, 2018
@mikaelarguedas mikaelarguedas added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels May 17, 2018
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mikaelarguedas commented May 17, 2018

@ernestmc Thanks for the patch! We assumed this is ready for review so we labeled it as is (please comment here if this is not the case)
Tip: We also modified the description to connect to the relevant issue so that they are displayed together on the waffle board

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ernestmc commented May 17, 2018

@mikaelarguedas this is ready for review. I've tested and it works. Awaiting you comments.

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mikaelarguedas commented May 18, 2018

@ernestmc It looks like this PR makes multiple rclcpp tests fail.
Can you confirm if you have the same failures on your side ? (you can run the tests of a package by using ament test --only <PKG_NAME>)

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@mikaelarguedas mikaelarguedas added in progress Actively being worked on (Kanban column) requires-changes and removed in review Waiting for review (Kanban column) labels May 18, 2018
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ernestmc commented May 22, 2018

Forgot to try the tests. I'll look at them and let you know.

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ernestmc commented May 29, 2018

@mikaelarguedas I've updated the test cases and now they are passing.

100% tests passed, 0 tests failed out of 27

Label Time Summary:
copyright     =   0.77 sec (1 test)
cppcheck      =   0.87 sec (1 test)
cpplint       =   5.72 sec (1 test)
gmock         =   0.23 sec (1 test)
gtest         =   7.29 sec (21 tests)
lint_cmake    =   0.70 sec (1 test)
linter        =  10.35 sec (5 tests)
uncrustify    =   2.28 sec (1 test)

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mikaelarguedas commented May 29, 2018 •
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thanks @ernestmc

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@mikaelarguedas mikaelarguedas added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) requires-changes labels May 29, 2018
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mikaelarguedas commented May 29, 2018 •
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@ernestmc FYI: I rebased this branch on top of master and force pushed it

The reason:
Our ci is unable to merge branches from forks at the moment and severals tests are failing due to the outdated state of this branch.

In the future we recommend, when possible, opening PRs from branches hosted on the ros2 repositories this way CI will make sure to merge your branch into master before building.

New round of CI on rebased branch:

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@ernestmc ernestmc force-pushed the use_rosgraph_clock branch from b8fe1e0 to 016f9c7 Compare May 29, 2018 20:06
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ernestmc commented May 29, 2018

Thanks @mikaelarguedas . I've rebased my branch to keep it updated. I didn't know if I could push a new branch directly into the repo.

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mikaelarguedas commented May 30, 2018

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mikaelarguedas approved these changes May 30, 2018
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code change looks good to me.

I leave it up to @tfoote to give final review/approval

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mikaelarguedas reviewed May 30, 2018
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rclcpp/test/test_time_source.cpp
msg->clock.sec = i;
msg->clock.nanosec = 1000;
clock_pub->publish(msg);
// std::cout << "Publishing: '" << msg->sec << ".000000" << msg->nanosec << "'" << std::endl;
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@tfoote did you want to keep these for debugging?

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If we decide to keep those lines I need to update them to the new message type.

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No we don't need to keep them.

@dirk-thomas dirk-thomas requested a review from tfoote May 30, 2018 17:11
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rclcpp/test/test_time_source.cpp
msg->clock.sec = i;
msg->clock.nanosec = 1000;
clock_pub->publish(msg);
// std::cout << "Publishing: '" << msg->sec << ".000000" << msg->nanosec << "'" << std::endl;
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No we don't need to keep them.

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mikaelarguedas commented May 30, 2018

thanks @ernestmc for the contribution and @tfoote for the second round of review, merging..

@mikaelarguedas mikaelarguedas merged commit d605727 into ros2:master May 30, 2018
@dirk-thomas dirk-thomas mentioned this pull request May 31, 2018
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@tfoote tfoote mentioned this pull request Apr 2, 2019
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