Use better Time constructor args

bit-bots · Nov 12, 2023 · c1bc67c · c1bc67c
1 parent ea0696c
commit c1bc67c
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/..._localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py b/..._localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py
@@ -19,7 +19,7 @@ def __init__(self, blackboard, dsd, parameters=None):
                     self.blackboard.last_init_odom_transform = self.blackboard.tf_buffer.lookup_transform(
                         self.blackboard.odom_frame,
                         self.blackboard.base_footprint_frame,
-                        Time(seconds=0, nanoseconds=0),
+                        Time(),
                         Duration(seconds=1.0),
                     )  # wait up to 1 second for odom data
             except (tf2.LookupException, tf2.ConnectivityException, tf2.ExtrapolationException) as e:

diff --git a/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py b/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py
@@ -24,7 +24,7 @@ def perform(self, reevaluate=False):
 
         try:
             odom_transform = self.blackboard.tf_buffer.lookup_transform(
-                self.blackboard.odom_frame, self.blackboard.base_footprint_frame, Time(seconds=0, nanoseconds=0)
+                self.blackboard.odom_frame, self.blackboard.base_footprint_frame, Time()
             )
         except (tf2.LookupException, tf2.ConnectivityException, tf2.ExtrapolationException) as e:
             self.blackboard.node.get_logger().error(

diff --git a/bitbots_path_planning/bitbots_path_planning/planner.py b/bitbots_path_planning/bitbots_path_planning/planner.py
@@ -27,7 +27,7 @@ def set_goal(self, pose: PoseStamped) -> None:
         """
         Updates the goal pose
         """
-        pose.header.stamp = Time().to_msg()
+        pose.header.stamp = Time(clock_type=self.node.get_clock().clock_type).to_msg()
         self.goal = pose
 
     def cancel(self) -> None: