From e5aac8627bf4b0eac1ed4a3fefbdb928d397340f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 14 Jul 2021 09:55:39 +0200
Subject: [PATCH] Solved a bug with the module rate handle functions: It is a
ros::Rate object but it was handled as a double.
---
include/iri_ros_tools/module.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/iri_ros_tools/module.h b/include/iri_ros_tools/module.h
index 46b7d7f..12e8981 100644
--- a/include/iri_ros_tools/module.h
+++ b/include/iri_ros_tools/module.h
@@ -278,13 +278,13 @@ void CModule<ModuleCfg>::set_rate(double rate_hz)
if(rate_hz<=0.0)
throw CModuleException(_HERE_,"Module rate must be positive",this->name);
else
- this->module_rate=rate_hz;
+ this->module_rate=ros::Rate(rate_hz);
}
template<class ModuleCfg>
double CModule<ModuleCfg>::get_rate(void)
{
- return this->module_rate;
+ return 1.0/(this->module_rate.expectedCycleTime().toSec());
}
template<class ModuleCfg>
--
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