Use ROS 2 clock for sensor triggering #807
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…o FPS calculation Signed-off-by: Michał Pełka <[email protected]>
michalpelka
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Dec 10, 2024
Signed-off-by: Michał Pełka <[email protected]>
byrcolin
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Dec 20, 2024
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| AZStd::deque<float> m_simulationLoopTimes; | ||
| builtin_interfaces::msg::Time m_lastSimulationTime; | ||
| float m_currentMedian = 1.f/60.0f; |
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Suggested change
| float m_currentMedian = 1.f/60.0f; | |
| float m_currentMedian = 1.0f / 60.0f; |
Btw. I would also rename the variable (ROS2SystemComponent->currentMedian?), maybe m_simTimeMedian?
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| #include <ROS2/ROS2Bus.h> | ||
| #include <ROS2/Utilities/ROS2Conversions.h> | ||
| #include <AzCore/std/numeric.h> |
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Co-authored-by: Jan Hanca <[email protected]> Signed-off-by: Michał Pełka <[email protected]>
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What does this PR do?
This PR fixes two minor things in sensors triggering:
How was this PR tested?
It was cherry picked against stable and tested in response to #804.
I've used test branch that logs sensor triggers (https://github.com/RobotecAI/o3de-extras/tree/mp/trigger_noted)
And script to visualize : https://gist.github.com/michalpelka/3f2c66f16d20ba714c6389d5cd173032
Without filter:
With filtering
You can see that triggers fro camera (green dots) are spaced evenly for code using median filter.
Note this is minor issue, since it can cause:
\clocktopic so inconsistency in wall time is not that big deal.