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Set use_sim_time through CM NodeOptions #533

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Merged
merged 3 commits into from
Mar 31, 2025
Merged

Set use_sim_time through CM NodeOptions #533

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5e3b644
Set `use_sim_time` through CM NodeOptions
saikishor Mar 28, 2025
32ed243
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christophfroehlich Mar 28, 2025
d9448b8
Merge branch 'rolling' into saikishor-patch-1
ahcorde Mar 31, 2025
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7 changes: 3 additions & 4 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -441,6 +441,9 @@ void GazeboSimROS2ControlPlugin::Configure(
arguments.push_back("__node:=" + controllerManagerNodeName);
arguments.push_back("-r");
arguments.push_back("__ns:=" + ns);
// Force setting of use_sim_time parameter
arguments.push_back("-p");
arguments.push_back("use_sim_time:=true");
options.arguments(arguments);
this->dataPtr->controller_manager_.reset(
new controller_manager::ControllerManager(
Expand All @@ -455,10 +458,6 @@ void GazeboSimROS2ControlPlugin::Configure(
std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(1.0 / static_cast<double>(this->dataPtr->update_rate))));

// Force setting of use_sim_time parameter
this->dataPtr->controller_manager_->set_parameter(
rclcpp::Parameter("use_sim_time", rclcpp::ParameterValue(true)));

// Wait for CM to receive robot description from the topic and then initialize Resource Manager
while (!this->dataPtr->controller_manager_->is_resource_manager_initialized()) {
RCLCPP_WARN(
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