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rates_ vector out of channel order #111

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rates_ vector out of channel order #111

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18 changes: 10 additions & 8 deletions include/message_filters/sync_policies/latest_time.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ Synchronizer<latest_policy> sync_policies(latest_policy(), caminfo_sub, limage_s
sync_policies.registerCallback(callback);
\endverbatim

* May also take an instance of a `rclcpp::Clock::SharedPtr` from `rclpp::Node::get_clock()`
* May also take an instance of a `rclcpp::Clock::SharedPtr` from `rclpp::Node::get_clock()`
* to use the node's time source (e.g. sim time) as in:
\verbatim
typedef LatestTime<sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> latest_policy;
Expand Down Expand Up @@ -112,6 +112,7 @@ struct LatestTime : public PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>
: parent_(0),
ros_clock_{clock}
{
rates_.resize(RealTypeCount::value, Rate(rclcpp::Time(0L, ros_clock_->get_clock_type())));
}

LatestTime(const LatestTime& e)
Expand All @@ -136,6 +137,8 @@ struct LatestTime : public PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>

void setRateConfigPerMessage(const std::vector<RateConfig> & configs)
{
RCUTILS_ASSERT(configs.size() == RealTypeCount::value);
RCUTILS_LOG_ERROR("RateConfig vector size != number of topics -- using defaults");
rate_configs_.assign(configs.begin(), configs.end());
}

Expand Down Expand Up @@ -197,14 +200,13 @@ struct LatestTime : public PolicyBase<M0, M1, M2, M3, M4, M5, M6, M7, M8>
error_ema_alpha,
rate_step_change_margin_factor) = rate_configs_[0U];
}
rates_.push_back(
Rate(
ros_clock_->now(),
rate_ema_alpha,
error_ema_alpha,
rate_step_change_margin_factor));
rates_[i] = Rate(
ros_clock_->now(),
rate_ema_alpha,
error_ema_alpha,
rate_step_change_margin_factor);
} else {
rates_.push_back(Rate(ros_clock_->now()));
rates_[i] = Rate(ros_clock_->now());
}
}

Expand Down