Fix sensors after time reset (lunar-devel) #705
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World resets result in a negative time differences between current world time and the last recorded sensor update time, preventing the plugin from publishing new frames. This commit detects such events and resets the internal sensor update timestamp.
cohen39
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Nov 15, 2021
* camera plugin keeps publishing after negative sensor update interval World resets result in a negative time differences between current world time and the last recorded sensor update time, preventing the plugin from publishing new frames. This commit detects such events and resets the internal sensor update timestamp. * block_laser, range, and joint_state_publisher keep publishing after clock reset * p3d keeps publishing after clock reset
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{ port of pull request #683 }
Fixes various gazebo sensor plugins not publishing ROS messages after resetting the Gazebo world (CTRL+R).
Tested on gazebo9. Currently includes:
These are the sensors on the prius vehicle in github.com/osrf/car_demo .
In all these plugins, resetting the time in Gazebo results in negative time difference between the current time and last update time, which prevents any new messages being send. The fix explicitly detects such negative time differences. With it, the simulation in osrf/car_demo can be reset without affecting ROS.
By the way, this seems related to #532, though kennysharm'a pull request, nor #540 fixes this.