Use RCL_ROS_TIME

christophfroehlich · saikishor · web-flow · commit 4536d3fd1eae · 2025-04-06T19:14:29.000+02:00
Co-authored-by: Sai Kishor Kothakota &lt;saisastra3@gmail.com&gt;
diff --git a/control_toolbox/include/control_filters/gravity_compensation.hpp b/control_toolbox/include/control_filters/gravity_compensation.hpp
@@ -93,7 +93,7 @@ GravityCompensation<T>::~GravityCompensation()
 template <typename T>
 bool GravityCompensation<T>::configure()
 {
-  clock_ = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
+  clock_ = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
   p_tf_Buffer_.reset(new tf2_ros::Buffer(clock_));
   p_tf_Listener_.reset(new tf2_ros::TransformListener(*p_tf_Buffer_.get(), true));
 

Original file line number	Diff line number	Diff line change
`@@ -93,7 +93,7 @@ GravityCompensation<T>::~GravityCompensation()`
`93`	`93`	`template <typename T>`
`94`	`94`	`bool GravityCompensation<T>::configure()`
`95`	`95`	`{`
`96`		`- clock_ = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);`
	`96`	`+ clock_ = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);`
`97`	`97`	`p_tf_Buffer_.reset(new tf2_ros::Buffer(clock_));`
`98`	`98`	`p_tf_Listener_.reset(new tf2_ros::TransformListener(*p_tf_Buffer_.get(), true));`
`99`	`99`