Fix uncaught exception in joint_state_controller #630
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Thank you! Would you like a release of this or happy with it being merged for now? |
Using sim time in Gazebo, the starting time is close to zero, such that time - ros::Duration(1/publish_rate_) is negative. This causes an exception to be thrown: "Time is out of dual 32-bit range".
rhaschke
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A merge would be fine for now. Sorry for pushing broken code initially. It should work now. |
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Totally forgot about this. I also have a fix in #629, but the unit tests are failing and I couldn't find a way to fix them. We can close that pull request and delete the branch if this version of the fix gets merged instead. One small note: I see that you fixed the issue by catching an exception instead of ensuring it doesn't occur by performing a greater-than check. This code could potentially execute in a tight (update) loop, so throwing an exception and catching it every loop iteration, in a loop that's supposed to run at a specific frequency may not be the best thing long-term. |
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@bmagyar, can you please rerun the CI tests? I think the test |
Using sim time in Gazebo, the starting time is close to zero, such that
time - ros::Duration(1/publish_rate_)becomes negative. This causes an exception to be thrown: "Time is out of dual 32-bit range".