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publish clock after delay is over and disable delay on next loops #1861

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publish clock after delay is over and disable delay on next loops #1861

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5f7da84
publish clock after the delay is over
nicolaloi Nov 21, 2024
db4c90e
Disable delay period in subsequent loops (ros2 bag play)
nicolaloi Nov 24, 2024
cecd120
Reset clock publisher timer outisde playback loop
nicolaloi Nov 24, 2024
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3 changes: 2 additions & 1 deletion ros2bag/ros2bag/verb/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,8 @@ def add_arguments(self, parser, cli_name): # noqa: D102
)
parser.add_argument(
'-d', '--delay', type=positive_float, default=0.0,
help='Sleep duration before play (each loop), in seconds. Negative durations invalid.')
help='Sleep duration before play (loops are not affected), in seconds.'
'Negative durations invalid.')
parser.add_argument(
'--playback-duration', type=float, default=-1.0,
help='Playback duration, in seconds. Negative durations mark an infinite playback. '
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2 changes: 1 addition & 1 deletion rosbag2_transport/include/rosbag2_transport/play_options.hpp
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Expand Up @@ -83,7 +83,7 @@ struct PlayOptions
// a /clock update to be published. If list is empty, all topics will act as a trigger
std::vector<std::string> clock_trigger_topics = {};

// Sleep before play. Negative durations invalid. Will delay at the beginning of each loop.
// Sleep before play. Negative durations invalid. Loops are not affected.
rclcpp::Duration delay = rclcpp::Duration(0, 0);

// Determines the maximum duration of the playback. Negative durations will make the playback to
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19 changes: 13 additions & 6 deletions rosbag2_transport/src/rosbag2_transport/player.cpp
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Expand Up @@ -483,12 +483,19 @@ bool PlayerImpl::play()
playback_thread_ = std::thread(
[&, delay]() {
try {
if (delay > rclcpp::Duration(0, 0)) {
RCLCPP_INFO_STREAM(owner_->get_logger(), "Sleep " << delay.nanoseconds() << " ns");
std::chrono::nanoseconds delay_duration(delay.nanoseconds());
std::this_thread::sleep_for(delay_duration);
}
{
std::lock_guard<std::mutex> lk(reader_mutex_);
clock_->jump(starting_time_);
}
Comment on lines +491 to +494
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We have already do clock_->jump(..) just a few lines down. On line 502.
This one is redundant and should be removed IMO.

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I copied the jump before the loop because in this commit it needs to be called before starting the clock_publisher_timer to avoid publishing a non-monotonic clock. But yes if I revert to pausing the clock until the delay is over, then it is not needed.

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@MichaelOrlov I think there could be issues with pausing the clock and resuming it after the delay. If the user commands a direct "pause" of the clock (via keyboard control or service) during the delay period, the clock will resume automatically after the delay regardless of the user's intent (#1861 (comment)). Another linked issue is if I remove the clock_->jump call before starting clock_publisher_timer, and the user resumes the clock during the delay period; then when the delay ends and the clock_publisher_timer starts, the clock publisher could publish "future" timestamps before going back to the starting_time_ timestamp with the clock_->jump call inside the loop.

if (clock_publish_timer_ != nullptr) {
clock_publish_timer_->reset();
}
do {
if (delay > rclcpp::Duration(0, 0)) {
RCLCPP_INFO_STREAM(owner_->get_logger(), "Sleep " << delay.nanoseconds() << " ns");
std::chrono::nanoseconds delay_duration(delay.nanoseconds());
std::this_thread::sleep_for(delay_duration);
}
{
std::lock_guard<std::mutex> lk(reader_mutex_);
reader_->seek(starting_time_);
Expand Down Expand Up @@ -1072,7 +1079,7 @@ void PlayerImpl::prepare_publishers()
clock_publish_timer_ = owner_->create_wall_timer(
publish_period, [this]() {
publish_clock_update();
});
}, nullptr, false);
}

if (play_options_.clock_publish_on_topic_publish) {
Expand Down
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