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[ros2-humble] change(diagnosed-publisher): allow specifying node clock (#340) #370

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Jun 27, 2024
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[ros2-humble] change(diagnosed-publisher): allow specifying node clock (#340) #370

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5 changes: 3 additions & 2 deletions diagnostic_updater/include/diagnostic_updater/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -226,8 +226,9 @@ class DiagnosedPublisher : public TopicDiagnostic
const typename PublisherT::SharedPtr & pub,
diagnostic_updater::Updater & diag,
const diagnostic_updater::FrequencyStatusParam & freq,
const diagnostic_updater::TimeStampStatusParam & stamp)
: TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp),
const diagnostic_updater::TimeStampStatusParam & stamp,
const rclcpp::Clock::SharedPtr & clock = std::make_shared<rclcpp::Clock>())
: TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp, clock),
publisher_(pub)
{
static_assert(has_header<MessageT>::value, "Message type has to have a header.");
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