Guard condition to check node clock is not zero, to suppress "No cloc…

…k received" error from ros2_control. (#1027) Added guard condition to check node clock is not zero, to suppress "No clock received" error from ros2_control.
cyberbotics · Feb 2, 2025 · 73551ef · 73551ef
1 parent 9d870d1
commit 73551ef
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diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -90,7 +90,7 @@ namespace webots_ros2_control {
   void Ros2Control::step() {
     const int nowMs = wb_robot_get_time() * 1000.0;
     const int periodMs = nowMs - mLastControlUpdateMs;
-    if (periodMs >= mControlPeriodMs) {
+    if (periodMs >= mControlPeriodMs && mNode->get_clock()->now() != rclcpp::Time(0, 0, mNode->get_clock()->get_clock_type())) {
       const rclcpp::Duration dt = rclcpp::Duration::from_seconds(mControlPeriodMs / 1000.0);
       mControllerManager->read(mNode->get_clock()->now(), dt);
 

diff --git a/webots_ros2_driver/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
@@ -32,6 +32,8 @@ find_package(yaml-cpp REQUIRED)
 
 if($ENV{ROS_DISTRO} MATCHES "humble")
   find_package(Python 3.10 EXACT REQUIRED COMPONENTS Development)
+elseif($ENV{ROS_DISTRO} MATCHES "iron")
+  find_package(Python 3.10 EXACT REQUIRED COMPONENTS Development)
 elseif($ENV{ROS_DISTRO} MATCHES "jazzy")
   find_package(Python 3.12 EXACT REQUIRED COMPONENTS Development)
 elseif($ENV{ROS_DISTRO} MATCHES "rolling")