Use from_seconds() to avoid integer rounding (#1560) (#1561)

sloretz · web-flow · commit d44596cf26e5 · 2020-02-24T20:01:07.000-08:00
FootprintSubscriber constructor is using a Duration constructor that
expects two integers for seconds and nanoseconds, but the
footprint_timeout argument type is double, suggesting it should be
floating point seconds. This uses `Duration::from_seconds()` to the
timeout being rounded down to the next integer.

Signed-off-by: Shane Loretz &lt;sloretz@openrobotics.org&gt;
Signed-off-by: Shane Loretz &lt;sloretz@osrfoundation.org&gt;
diff --git a/nav2_costmap_2d/src/footprint_subscriber.cpp b/nav2_costmap_2d/src/footprint_subscriber.cpp
@@ -55,7 +55,7 @@ FootprintSubscriber::FootprintSubscriber(
   node_logging_(node_logging),
   node_clock_(node_clock),
   topic_name_(topic_name),
-  footprint_timeout_(rclcpp::Duration(footprint_timeout, 0.))
+  footprint_timeout_(rclcpp::Duration::from_seconds(footprint_timeout))
 {
   footprint_sub_ = rclcpp::create_subscription<geometry_msgs::msg::PolygonStamped>(node_topics_,
       topic_name, rclcpp::SystemDefaultsQoS(),

Original file line number	Diff line number	Diff line change
`@@ -55,7 +55,7 @@ FootprintSubscriber::FootprintSubscriber(`
`55`	`55`	`node_logging_(node_logging),`
`56`	`56`	`node_clock_(node_clock),`
`57`	`57`	`topic_name_(topic_name),`
`58`		`- footprint_timeout_(rclcpp::Duration(footprint_timeout, 0.))`
	`58`	`+ footprint_timeout_(rclcpp::Duration::from_seconds(footprint_timeout))`
`59`	`59`	`{`
`60`	`60`	`footprint_sub_ = rclcpp::create_subscription<geometry_msgs::msg::PolygonStamped>(node_topics_,`
`61`	`61`	`topic_name, rclcpp::SystemDefaultsQoS(),`