From 655107f6bd5a3fddbe5aec609a9a43c025258ee2 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 15 May 2024 00:59:06 -0700 Subject: [PATCH] add extended timer information of rcl/rclcpp for jazzy release note. (#4455) Signed-off-by: Tomoya.Fujita (cherry picked from commit 3456aed7ede7bdc22be7ffe3df39a19837fa39f6) --- source/Releases/Release-Jazzy-Jalisco.rst | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/source/Releases/Release-Jazzy-Jalisco.rst b/source/Releases/Release-Jazzy-Jalisco.rst index 065000b6f30..e5b0faf8ecf 100644 --- a/source/Releases/Release-Jazzy-Jalisco.rst +++ b/source/Releases/Release-Jazzy-Jalisco.rst @@ -389,6 +389,14 @@ See https://github.com/ros2/geometry2/pull/646 for more information. ``rcl`` ^^^^^^^ +Actual and expected call time when timer is called +"""""""""""""""""""""""""""""""""""""""""""""""""" + +New timer API ``rcl_timer_call_with_info`` is added to collect actual and expected call time when the timer is called. +This allows users to get the timer information when the timer is expected to be called and actual time that timer is called. + +See https://github.com/ros2/rcl/pull/1113 for more details. + Improved rcl_wait in the area of timeout computation and spurious wakeups """"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" @@ -437,6 +445,14 @@ Back in Humble, subscription signatures of the form ``void callback(std::shared_ In Jazzy, these subscription signatures have been removed. Users should switch to using ``void callback(std::shared_ptr)`` or ``void callback(std::shared_ptr, const rclcpp MessageInfo &)``. +Actual and expected call time when timer is called +"""""""""""""""""""""""""""""""""""""""""""""""""" + +``rclcpp::TimerInfo`` argument is added to the timer callback to collect actual and expected call time when the timer is called. +This allows users to get the timer information when the timer is expected to be called and actual time that timer is called. + +See https://github.com/ros2/rclcpp/pull/2343 for more details. + ``rclcpp_action`` ^^^^^^^^^^^^^^^^^