Deprecates update(float, float) methods and provides update(std::chrono::duration, std::chrono::duration) replacements. by riv-mjohnson · Pull Request #1533 · ros2/rviz

riv-mjohnson · 2025-07-18T10:56:18Z

Description

As detailed in #1322, when rviz was updated from ros1 to ros2, the units used in update(wall_dt, ros_dt) calls were changed from seconds to nanoseconds. This change was not documented, and a lot of downstream classes (including in this repository) were not updated.

This PR attempts to begin rectifying the situation, without introducing breaking changes, by following the ideas listed in #1322. This PR deprecates the update(float, float) method, and introduces an update(std::chrono::duration, std::chrono::duration) replacement.

Fixes Update dt was changed to nanoseconds #1322

Is this user-facing behavior change?

Not unless users treat deprecation warnings as errors.

Did you use Generative AI?

No

Additional Information

Can this PR be back-ported to Jazzy and Humble when merged?

…no::duration, std::chrono::duration) replacements.

riv-mjohnson · 2025-07-18T11:10:02Z

rviz_common/src/rviz_common/visualization_manager.cpp


-  if (time_update_timer_ > 0.1f) {
-    time_update_timer_ = 0.0f;
+  if (time_update_timer_ > std::chrono::nanoseconds(0.1f)) {


Is 0.1 nanoseconds for time_update_timer_ and 1 nanoseconds for frame_update_timer_ really the intended behaviour here?

In ros1, it was 0.1 seconds and 1 seconds respectively.

riv-mjohnson · 2025-07-18T12:01:34Z

It looks like the tests are failing to find headers added by #1529 . Not sure what to do about that.

rviz_common/include/rviz_common/view_manager.hpp

rviz_common/src/rviz_common/display.cpp

rviz_common/src/rviz_common/tool.cpp

rviz_common/src/rviz_common/view_controller.cpp

rviz_common/src/rviz_common/display_group.cpp

rviz_common/src/rviz_common/view_manager.cpp

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

ahcorde · 2025-07-21T08:00:13Z

Pulls: #1533
Gist: https://gist.githubusercontent.com/ahcorde/5656493229bfef6cd585eda6ab9a862b/raw/cc9c5cd7e56c488cda6e27c794cef969b783cd1a/ros2.repos
BUILD args: --packages-above-and-dependencies rviz_common
TEST args: --packages-above rviz_common
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16544

Linux
Linux-aarch64
Linux-rhel
Windows

ahcorde

Windows is failing https://ci.ros2.org/job/ci_windows/24948/console

ahcorde · 2025-07-21T11:26:34Z

Windows

riv-mjohnson · 2025-07-21T14:08:14Z

It looks like Windows doesn't like the cast std::chrono::nanoseconds(float).

For converting variables, we can just std::round before casting to nanoseconds.

What do we want to do about the if (time_update_timer_ > 0.1f) line? In ros1, the 0.1f and 1.0f were in seconds, so they made sense. 0.1f nanoseconds is not representable by standard std::chrono types, and is not a reasonable time to be comparing to.

…o std::chrono::nanoseconds.

riv-mjohnson · 2025-07-22T11:15:28Z

It looks like the tests are failing to find headers added by #1529 again. Is there a dependency missing in the package.xml or CMakeLists in rolling?

ahcorde

I made here some suggestions https://github.com/ros2/rviz/compare/ahcorde/suggestions_1533 do you mind to test it?

riv-mjohnson · 2025-07-30T12:34:20Z

I made here some suggestions https://github.com/ros2/rviz/compare/ahcorde/suggestions_1533 do you mind to test it?

Looks sensible. I've replaced the static_cast<int>(std::round( with std::lround( (which I really should have just used originally)

riv-mjohnson · 2025-07-30T12:34:55Z

~~Incidentally, is there some kind of linting going on as part of your pipelines? I'm not very familiar with Jenkins~~

Don't worry, I found it.

riv-mjohnson · 2025-08-11T10:17:41Z

@ahcorde Thanks for your help on this so far.

It should be ready for you to re-review, when you get a moment.

ahcorde · 2025-08-18T09:37:53Z

Linux
Linux-aarch64
Linux-rhel
Windows

…no::duration, std::chrono::duration) replacements. (ros2#1533) Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

nbbrooks · 2025-09-08T16:54:36Z

rviz_common/src/rviz_common/display_group.cpp

+void DisplayGroup::update(float wall_dt, float ros_dt)
+{
+  this->update(std::chrono::nanoseconds(std::lround(wall_dt)),
+               std::chrono::nanoseconds(std::lround(ros_dt)));


I am quite rusty on the rviz API but wouldn't it be better to do something like std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<float>(seconds)) here to preserve times like 0.1f?

Unfortunately, float wall_dt = 0.1f is 0.1 nanoseconds, not 0.1 seconds. See #1322. As such, rounding and losing fractions of a nanosecond shouldn't be a problem.

I made this PR to try and remove the ambiguity.

I don't know what we want to do about preserving existing behaviour vs changing behaviour to match the ros1 / documented behaviour.

Ah, I did not spend enough time reading your issue. I thought the sec -> ns change just happened in rolling.

* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces * Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS * Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration * Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp * Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces * Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor --------- Co-authored-by: Andrea <realeandrea@yahoo.it>

Deprecates update(float, float) methods and provides update(std::chro…

5704a59

…no::duration, std::chrono::duration) replacements.

riv-mjohnson mentioned this pull request Jul 18, 2025

Rviz plugin update() methods use nanoseconds, not seconds. moveit/moveit2#3528

Closed

riv-mjohnson commented Jul 18, 2025

View reviewed changes

Fixes type error.

81386b8

ahcorde requested changes Jul 18, 2025

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riv-mjohnson and others added 6 commits July 21, 2025 08:17

Update rviz_common/include/rviz_common/view_manager.hpp

00df146

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

Update rviz_common/src/rviz_common/display.cpp

ae187e2

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

Update rviz_common/src/rviz_common/tool.cpp

980efb1

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

Update rviz_common/src/rviz_common/view_controller.cpp

6e75c30

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

Update rviz_common/src/rviz_common/display_group.cpp

6969e12

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

Update rviz_common/src/rviz_common/view_manager.cpp

a8727f1

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Mark Johnson <104826595+riv-mjohnson@users.noreply.github.com>

ahcorde requested changes Jul 21, 2025

View reviewed changes

Includes chrono in relevant headers.

88e1bdf

Rounds float times to the nearest nanosecond before converting them t…

677dbbd

…o std::chrono::nanoseconds.

Suggestions to 1355

1bf47d9

ahcorde requested changes Jul 30, 2025

View reviewed changes

Replaces static_cast<int>(std::round( with std::lround(

4d040a1

riv-mjohnson added 2 commits August 4, 2025 09:23

Fixes lint.

721aa90

Fixes lint.

7a0dad0

riv-mjohnson requested a review from ahcorde August 14, 2025 19:45

ahcorde approved these changes Aug 18, 2025

View reviewed changes

ahcorde merged commit c7de3df into ros2:rolling Aug 18, 2025
2 checks passed

This was referenced Aug 19, 2025

Backport kilted/use chrono durations in update methods #1560

Closed

Backport jazzy/use chrono durations in update methods #1561

Closed

Backport humble/use chrono durations in update methods #1562

Closed

This was referenced Aug 19, 2025

Backport kilted/use chrono durations in update methods #1563

Closed

Backport jazzy/use chrono durations in update methods #1564

Closed

Backport humble/use chrono durations in update methods #1565

Closed

nbbrooks mentioned this pull request Sep 8, 2025

Fix deprecations in image_common and tf2_ros moveit/moveit2#3567

Merged

6 tasks

nbbrooks reviewed Sep 8, 2025

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riv-mjohnson mentioned this pull request Sep 22, 2025

Fix trajectory display. moveit/moveit2#2828

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