time sync callback support - Githubissues

micro-ROS / rmw_microxrcedds

RMW implementation using Micro XRCE-DDS middleware.

Apache License 2.0

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time sync callback support #284

Closed wonjae-song closed 1 year ago

wonjae-song commented 1 year ago

Issue template

Hardware description: N/A
RTOS: freertos
Installation type: micro_ros_setup (generate_lib)
Version or commit hash: galactic

Steps to reproduce the issue

I want to sync time between agent and client using time sync callback. step1> call time-sync-API(rmw_uros_sync_session) every X sec

Expected behavior

compute average of time offset using callback function to get more stable time-offset.

Actual behavior

time-offset is overwritten everytime the time-sync-API(rmw_uros_sync_session) is called.

Additional information

N/A

pablogs9 commented 1 year ago

rmw_uros_sync_session is designed to be called once to adjust the clock drift between client and agent. It won't compute an average with the actual design. Feel free to contribute with improvements via PRs.