From 3ad3fd335c8749cbb082a69f00e9c93de6855cb8 Mon Sep 17 00:00:00 2001 From: Manuel M Date: Wed, 14 Jun 2023 15:09:00 +0200 Subject: [PATCH] add steady clock to nodes if one node for publishingis used --- controller_manager/src/controller_manager.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp index 69d920f352..bd89445aa5 100644 --- a/controller_manager/src/controller_manager.cpp +++ b/controller_manager/src/controller_manager.cpp @@ -518,6 +518,7 @@ void ControllerManager::init_distributed_sub_controller_manager() { // create node for publishing/subscribing rclcpp::NodeOptions node_options; + node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME); distributed_pub_sub_node_ = std::make_shared( std::string(get_name()) + "_pub_sub_node", get_namespace(), node_options, false); //try to add to executor @@ -567,6 +568,7 @@ void ControllerManager::init_distributed_central_controller_manager() if (!use_multiple_nodes()) { rclcpp::NodeOptions node_options; + node_options.clock_type(rcl_clock_type_t::RCL_STEADY_TIME); distributed_pub_sub_node_ = std::make_shared( std::string(get_name()) + "_pub_sub_node", get_namespace(), node_options, false); //try to add to executor