Open ted-miller opened 1 year ago
Looking into this a bit, the only values rmw_uros_sync_session(..)
can return are OK
or ERROR
(docs).
It's unclear to me at the moment what we would do if it returns an error.
We could abort everything, but that may be a bit drastic.
While working on #61, @SejalBehere noticed that the year was reporting 2022. It turns out the YRC was configured with the wrong date. But, I thought
rmw_uros_epoch_nanos
was supposed to compensate for that. (The agent PC is set to 2023.)We'll need to do some more testing later. There are other issues with the YRC in question. Perhaps this is an side effect.
Perhaps we should be checking a return code from
rmw_uros_sync_session
https://github.com/Yaskawa-Global/motoros2/blob/9f1c599549ca89fd4323cf47fbd3101dadf2d3d8/src/CommunicationExecutor.c#L201-L201