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updated correct timestamp GazeboYarpLaserSensorDriver #604

Merged
merged 4 commits into from
Jan 25, 2022
Merged

updated correct timestamp GazeboYarpLaserSensorDriver #604

merged 4 commits into from
Jan 25, 2022

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ste93
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@ste93 ste93 commented Jan 13, 2022

since Lidar2DDeviceBase has a timestamp inside and lasersensor inherits from it, I would suggest use the timestamp from taht class. It has also an api getLastInputStamp () to get that stamp.

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ste93 commented Jan 13, 2022

@randaz81

@randaz81 randaz81 self-assigned this Jan 13, 2022
@randaz81 randaz81 self-requested a review January 13, 2022 16:33
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thank you, this was an important bugfix

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randaz81 commented Jan 13, 2022 •
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Additionally, since yarp 3.6 has been released, I think that we can safely remove the dependency from IPreceiselyTimed @traversaro https://github.com/robotology/gazebo-yarp-plugins/pull/604/files#diff-a33e9fff4431518b3add5ded498eae3af09ef01c83956d6fc6abd0a70de405b8R67-R70

REASON: in general IPreceiselyTimed interface should be avoided as much as possible, and possibly deprecated. Timestamps must be obtained together with the data using a single call to a get method(). Otherwise, it cannot be guaranteed that the timestamp is really associated with the retrieved data. (Threads can be interrupted etc.)

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Yes, feel free to remove the inheritance from IPreceiselyTimed and require YARP 3.6 as suggested by @randaz81 , thanks!

@ste93 ste93 force-pushed the fix_timestamp_lasersensor_master branch from 5339133 to 3630a4c Compare January 25, 2022 14:26
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ste93 commented Jan 25, 2022

@randaz81 updated, for me it can be merged. FYI @traversaro

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@randaz81 updated, for me it can be merged. FYI @traversaro

To require YARP 3.6 you need to modify the CMake in https://github.com/robotology/gazebo-yarp-plugins/blob/master/CMakeLists.txt#L49 . Could you also update the CHANGELOG?

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ste93 commented Jan 25, 2022

related to #598

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Thanks @ste93 .

@traversaro traversaro merged commit bb5afed into robotology:master Jan 25, 2022
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ste93 commented Jan 26, 2022

thanks @traversaro

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