Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
R
Rosjava Core Gradle
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Package registry
Container registry
Model registry
Operate
Environments
Terraform modules
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
GitLab community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
CeTI
ROS
ROS Java Packages
Rosjava Core Gradle
Commits
13bcbee1
Unverified
Commit
13bcbee1
authored
7 years ago
by
Juan Ignacio Ubeira
Committed by
GitHub
7 years ago
Browse files
Options
Downloads
Plain Diff
Merge pull request #264 from drigz/wait-for-master
Wait for master before getting /use_sim_time
parents
e92b7b78
70e445f7
Branches
Branches containing commit
No related tags found
No related merge requests found
Changes
1
Show whitespace changes
Inline
Side-by-side
Showing
1 changed file
rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+19
-6
19 additions, 6 deletions
rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
with
19 additions
and
6 deletions
rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+
19
−
6
View file @
13bcbee1
...
@@ -180,17 +180,26 @@ public class DefaultNode implements ConnectedNode {
...
@@ -180,17 +180,26 @@ public class DefaultNode implements ConnectedNode {
// possible during startup.
// possible during startup.
registrar
.
start
(
slaveServer
.
toNodeIdentifier
());
registrar
.
start
(
slaveServer
.
toNodeIdentifier
());
// During startup, we wait for 1) the RosoutLogger and 2) the TimeProvider.
// Wait for the logger to register with the master. This ensures the master is running before
final
CountDownLatch
latch
=
new
CountDownLatch
(
2
);
// requesting the use_sim_time parameter.
final
CountDownLatch
rosoutLatch
=
new
CountDownLatch
(
1
);
log
=
new
RosoutLogger
(
this
);
log
=
new
RosoutLogger
(
this
);
log
.
getPublisher
().
addListener
(
new
DefaultPublisherListener
<
rosgraph_msgs
.
Log
>()
{
log
.
getPublisher
().
addListener
(
new
DefaultPublisherListener
<
rosgraph_msgs
.
Log
>()
{
@Override
@Override
public
void
onMasterRegistrationSuccess
(
Publisher
<
rosgraph_msgs
.
Log
>
registrant
)
{
public
void
onMasterRegistrationSuccess
(
Publisher
<
rosgraph_msgs
.
Log
>
registrant
)
{
l
atch
.
countDown
();
rosoutL
atch
.
countDown
();
}
}
});
});
try
{
rosoutLatch
.
await
();
}
catch
(
InterruptedException
e
)
{
signalOnError
(
e
);
shutdown
();
return
;
}
boolean
useSimTime
=
false
;
boolean
useSimTime
=
false
;
try
{
try
{
useSimTime
=
useSimTime
=
...
@@ -198,24 +207,28 @@ public class DefaultNode implements ConnectedNode {
...
@@ -198,24 +207,28 @@ public class DefaultNode implements ConnectedNode {
&&
parameterTree
.
getBoolean
(
Parameters
.
USE_SIM_TIME
);
&&
parameterTree
.
getBoolean
(
Parameters
.
USE_SIM_TIME
);
}
catch
(
Exception
e
)
{
}
catch
(
Exception
e
)
{
signalOnError
(
e
);
signalOnError
(
e
);
shutdown
();
return
;
}
}
final
CountDownLatch
timeLatch
=
new
CountDownLatch
(
1
);
if
(
useSimTime
)
{
if
(
useSimTime
)
{
ClockTopicTimeProvider
clockTopicTimeProvider
=
new
ClockTopicTimeProvider
(
this
);
ClockTopicTimeProvider
clockTopicTimeProvider
=
new
ClockTopicTimeProvider
(
this
);
clockTopicTimeProvider
.
getSubscriber
().
addSubscriberListener
(
clockTopicTimeProvider
.
getSubscriber
().
addSubscriberListener
(
new
DefaultSubscriberListener
<
rosgraph_msgs
.
Clock
>()
{
new
DefaultSubscriberListener
<
rosgraph_msgs
.
Clock
>()
{
@Override
@Override
public
void
onMasterRegistrationSuccess
(
Subscriber
<
rosgraph_msgs
.
Clock
>
subscriber
)
{
public
void
onMasterRegistrationSuccess
(
Subscriber
<
rosgraph_msgs
.
Clock
>
subscriber
)
{
l
atch
.
countDown
();
timeL
atch
.
countDown
();
}
}
});
});
timeProvider
=
clockTopicTimeProvider
;
timeProvider
=
clockTopicTimeProvider
;
}
else
{
}
else
{
timeProvider
=
nodeConfiguration
.
getTimeProvider
();
timeProvider
=
nodeConfiguration
.
getTimeProvider
();
l
atch
.
countDown
();
timeL
atch
.
countDown
();
}
}
try
{
try
{
l
atch
.
await
();
timeL
atch
.
await
();
}
catch
(
InterruptedException
e
)
{
}
catch
(
InterruptedException
e
)
{
signalOnError
(
e
);
signalOnError
(
e
);
shutdown
();
shutdown
();
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment