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micro-ROS / rmw_microxrcedds

RMW implementation using Micro XRCE-DDS middleware.
Apache License 2.0
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Support session time sync #116

Closed amfern closed 3 years ago

amfern commented 3 years ago

I am looking to sync time between the agent and the client, the eProsima client has a handy function for doing just that uxr_sync_session but its not exposed through the rmw-microxrcedds api. Is there a reason its not supported? I am willing to open PR for this

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pablogs9 commented 3 years ago

Hello, this feature is not implemented yet in micro-ROS but there no problem in implementing it.

What would you expect from it? Is it enough for you to retrieve a time difference between the client clock and the agent clock (POSIX time)? Or maybe it is better to obtain directly the POSIX time of the agent?

amfern commented 3 years ago

I need the POSIX time, to fill the stamp part of the ros2 std_msgs/header

Acuadros95 commented 3 years ago

Hello, I have opened a PR for this issue: #117

The implemented function rmw_uros_sync_session returns the micro-ROS Agent POSIX time in nanoseconds, does this work for you?

pablogs9 commented 3 years ago

Merged, #117, I'm closing to keep issue track clean. Please @amfern reopen if you need any other feature related with timing or any changes in this implementation, we are open to discuss.

Thanks, @Acuadros95.

amfern commented 3 years ago

Thanks, that works for me.