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Adjust moveit_servo clock to work with fake_hardware #3529

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Merged
AndyZe merged 4 commits into from
Oct 31, 2025
Merged

Adjust moveit_servo clock to work with fake_hardware #3529

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3e9b4dd
fixed moveit_servo to work with fake_hardware (fixes issue #3040)
Jul 18, 2025
d6695a2
Function naming
AndyZe Jul 24, 2025
98ab363
Anonymous namespace
AndyZe Aug 9, 2025
faa0d99
Better comments
AndyZe Aug 11, 2025
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25 changes: 22 additions & 3 deletions moveit_ros/moveit_servo/src/servo_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,19 @@
namespace moveit_servo
{

namespace
{
// This function is used to convert times in case planning_scene_monitor uses RCL_SYSTEM_TIME
rclcpp::Time convertClockType(const rclcpp::Time& time, rcl_clock_type_t new_clock_type)
{
if (time.get_clock_type() != new_clock_type)
{
return rclcpp::Time(time.nanoseconds(), new_clock_type);
}
return time;
}
} // namespace

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr ServoNode::get_node_base_interface()
{
return node_->get_node_base_interface();
Expand Down Expand Up @@ -325,10 +338,16 @@ void ServoNode::servoLoop()
std::optional<KinematicState> next_joint_state = std::nullopt;
rclcpp::WallRate servo_frequency(1 / servo_params_.publish_period);

// wait for first robot joint state update
const auto servo_node_start = node_->now();
while (planning_scene_monitor_->getLastUpdateTime().get_clock_type() != node_->get_clock()->get_clock_type() ||
servo_node_start > planning_scene_monitor_->getLastUpdateTime())

// convert_clock_type() is used in case planning_scene_monitor uses RCL_SYSTEM_TIME
// while Servo uses RCL_ROS_TIME
while (servo_node_start >
convertClockType(planning_scene_monitor_->getLastUpdateTime(), servo_node_start.get_clock_type()))
{
RCLCPP_INFO(node_->get_logger(), "Waiting for planning scene monitor to receive robot state update.");
rclcpp::sleep_for(std::chrono::seconds(1));
}
{
RCLCPP_INFO(node_->get_logger(), "Waiting to receive robot state update.");
rclcpp::sleep_for(std::chrono::seconds(1));
Expand Down
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