fix(rtc_interface): use clock created by node to judge expired cooper…

…ate status (#7083) Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · May 21, 2024 · a792d4b · a792d4b
1 parent 3ad43de
commit a792d4b
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
@@ -84,6 +84,7 @@ class RTCInterface
   rclcpp::Service<AutoMode>::SharedPtr srv_auto_mode_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;
   rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Clock::SharedPtr clock_;
   rclcpp::Logger logger_;
 
   Module module_;

diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp
@@ -81,7 +81,8 @@ Module getModuleType(const std::string & module_name)
 namespace rtc_interface
 {
 RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name, const bool enable_rtc)
-: logger_{node->get_logger().get_child("RTCInterface[" + name + "]")},
+: clock_{node->get_clock()},
+  logger_{node->get_logger().get_child("RTCInterface[" + name + "]")},
   is_auto_mode_enabled_{!enable_rtc},
   is_locked_{false}
 {
@@ -270,9 +271,7 @@ void RTCInterface::removeExpiredCooperateStatus()
   std::lock_guard<std::mutex> lock(mutex_);
   const auto itr = std::remove_if(
     registered_status_.statuses.begin(), registered_status_.statuses.end(),
-    [](const auto & status) {
-      return (rclcpp::Clock{RCL_ROS_TIME}.now() - status.stamp).seconds() > 10.0;
-    });
+    [this](const auto & status) { return (clock_->now() - status.stamp).seconds() > 10.0; });
 
   registered_status_.statuses.erase(itr, registered_status_.statuses.end());
 }