Force setting use_sim_time parameter when using plugin. (#100)

destogl · ahcorde · web-flow · commit 4546cb74ed53 · 2022-11-25T18:15:51.000+01:00
Signed-off-by: Alejandro Hernández Cordero &lt;ahcorde@gmail.com&gt;
Co-authored-by: Alejandro Hernández Cordero &lt;ahcorde@gmail.com&gt;
diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -428,6 +428,10 @@ void IgnitionROS2ControlPlugin::Configure(
     std::chrono::duration_cast<std::chrono::nanoseconds>(
       std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));
 
+  // Force setting of use_sime_time parameter
+  this->dataPtr->controller_manager_->set_parameter(
+    rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));
+
   this->dataPtr->entity_ = _entity;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -428,6 +428,10 @@ void IgnitionROS2ControlPlugin::Configure(`
`428`	`428`	`std::chrono::duration_cast<std::chrono::nanoseconds>(`
`429`	`429`	`std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));`
`430`	`430`
	`431`	`+ // Force setting of use_sime_time parameter`
	`432`	`+ this->dataPtr->controller_manager_->set_parameter(`
	`433`	`+ rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));`
	`434`	`+`
`431`	`435`	`this->dataPtr->entity_ = _entity;`
`432`	`436`	`}`
`433`	`437`