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kdl_parser
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[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`).
This commit is contained in:
Martin Günther 2017-03-23 14:12:28 +01:00 committed by Chris Lalancette
parent 0a6b4915ce
commit 306e52ef8d
1 changed files with 4 additions and 1 deletions
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joint_state_publisher/joint_state_publisher/joint_state_publisher
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@ -238,7 +238,10 @@ class JointStatePublisher():
msg.effort[i] = joint['effort'] msg.effort[i] = joint['effort']
self.pub.publish(msg) self.pub.publish(msg)
try:
r.sleep() r.sleep()
except rospy.exceptions.ROSTimeMovedBackwardsException:
pass
def update(self, delta): def update(self, delta):
for name, joint in self.free_joints.iteritems(): for name, joint in self.free_joints.iteritems():