Class TimeJumpResettable

Inheritance Relationships

Base Type

Derived Types

Class Documentation

class TimeJumpResettable : public cras::Resettable

Interface for resettable nodes and nodelets. Automatic reset on time jumps.

This class reads the following ROS parameters when initRos() is called:

  • /jump_back_tolerance (float, default 3.0 s in wall time and 0.0 s in sim time): Threshold for ROS time jump back detection.

  • ~jump_back_tolerance (float, default from /jump_back_tolerance): Threshold for ROS time jump back detection.

  • ~reset_on_time_jump_back (bool, default True): Whether to call reset() when ROS time jumps back.

  • /jump_forward_tolerance (float, default 10.0 s in sim time and max duration in wall time): Threshold for ROS time jump forward detection.

  • ~jump_forward_tolerance (float, default from /jump_forward_tolerance): Threshold for ROS time jump forward detection.

  • ~reset_on_time_jump_forward (bool, default True in sim time and False in wall time): Whether to call reset() when ROS time jumps forward.

This class subscribes the following topics:

  • /reset (any type): When a message is received on this topic, reset() is called.

  • ~reset (any type): When a message is received on this topic, reset() is called.

Subclassed by cras::NodeletWithSharedTfBuffer< ::nodelet::Nodelet >, cras::NodeletWithSharedTfBuffer< BaseNodelet >, cras::NodeletManagerSharingTfBuffer, cras::NodeletWithSharedTfBuffer< NodeletType >

Public Functions

explicit TimeJumpResettable(const ::cras::LogHelperPtr &log)

Create the resettable interface. To also wire up to the reset topics and time jump resets, call initRos().

Parameters:

log – [in] The logger to use for message logging.

~TimeJumpResettable() override
void checkTimeJump()

Check if ROS time has not jumped back. If it did, call reset().

Note

This function should be called periodically. Call startAutoCheckTimeJump() to run a timer that will do these periodic calls automatically. Or you can call this function from your callbacks.

virtual void checkTimeJump(const ::ros::Time &now)

Check if ROS time has not jumped back. If it did, call reset().

Note

This function should be called periodically. Call startAutoCheckTimeJump() to run a timer that will do these periodic calls automatically. Or you can call this function from your callbacks.

Parameters:

now – [in] The timestamp that should be interpreted as current time.

virtual void initRos(const ::ros::NodeHandle &pnh) override

Initialize the ROS part of the interface - subscriber to /reset and ~reset topics, read time jump limits.

Parameters:

pnh – [in] The (private) node handle to setup the interface for.

void startAutoCheckTimeJump()

Start a background 1 Hz timer that automatically checks for time jumps.

virtual void startAutoCheckTimeJump(const ::ros::WallRate &rate)

Start a background timer that automatically checks for time jumps.

Parameters:

rate – [in] Checking rate

virtual void stopAutoCheckTimeJump()

Stop the timer that automatically checks for time jumps.