Fix sim clock deadlock (#3) #955
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Prevent EKF and NavSat nodes from deadlocking on startup when using simulated time by avoiding clock wait blocks and validating clock readiness at runtime. Bug Fixes: - Resolve a startup deadlock when use_sim_time is enabled by eliminating blocking waits for the ROS clock during EKF and NavSat node initialization and instead skipping processing until the clock has started. Tests: - Add a C++ unit test to verify EKF and NavSat initialization do not block when use_sim_time is enabled. - Add integration tests plus supporting launch and helper scripts to ensure the EKF publishes filtered odometry both when the simulated clock starts before the EKF node and when it starts after.
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peci1
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Jan 15, 2026
| RCLCPP_INFO_STREAM(this->get_logger(), | ||
| "Delaying for " << delay << " seconds before starting..."); | ||
| rclcpp::Duration delay_duration = rclcpp::Duration::from_seconds(delay); | ||
| this->get_clock()->sleep_for(delay_duration); |
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I think this already needs a working clock...
peci1
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Jan 15, 2026
| &min_frequency_, | ||
| &max_frequency_, 0.1, 10)); | ||
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| last_diag_time_ = this->now(); |
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Prevent EKF and NavSat nodes from deadlocking on startup when using simulated time by avoiding clock wait blocks and validating clock readiness at runtime. The issue was introduced in #943
Bug Fixes:
Tests: