From 306e52ef8dc0c9982c99a7fc7d05a7e927c70b68 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20G=C3=BCnther?= <martin.guenther@dfki.de>
Date: Thu, 23 Mar 2017 14:12:28 +0100
Subject: [PATCH] [joint_state_publisher] Handle time moving backwards

Without this patch, joint_state_publisher dies whenever the ROS time moves backwards (e.g., when running `rosbag play --clock --loop`).
---
 .../joint_state_publisher/joint_state_publisher              | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/joint_state_publisher/joint_state_publisher/joint_state_publisher b/joint_state_publisher/joint_state_publisher/joint_state_publisher
index 7badd65..4ac5008 100755
--- a/joint_state_publisher/joint_state_publisher/joint_state_publisher
+++ b/joint_state_publisher/joint_state_publisher/joint_state_publisher
@@ -238,7 +238,10 @@ class JointStatePublisher():
                     msg.effort[i] = joint['effort']
 
             self.pub.publish(msg)
-            r.sleep()
+            try:
+                r.sleep()
+            except rospy.exceptions.ROSTimeMovedBackwardsException:
+                pass
 
     def update(self, delta):
         for name, joint in self.free_joints.iteritems():