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ros-controls / control_toolbox

This package contains several C++ classes useful in writing controllers.
https://control.ros.org
BSD 3-Clause "New" or "Revised" License
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How to add clock interface in the filters? #162

Open destogl opened 1 year ago

destogl commented 1 year ago 
          Unless the filter_base is changed, I don't think the filter has any access to the node (only its logger and parameter interfaces). Maybe the filter should get a time and dt passed when updated (as controllers do)

_Originally posted by @guihomework in https://github.com/ros-controls/control_toolbox/pull/153#discussion_r1141803766_

There are 2 options I can see right now:

  1. Change FilterBase and FilterChainBase to support this argument in the configure()
  2. Add override of the FilterBase and FilterChainBase classes and enable controllers to use it instead of the generic filters.