From 7f4b0e5a4f3a7fd110f213daeac085fb11294607 Mon Sep 17 00:00:00 2001 From: Anasarrak Date: Mon, 17 Jun 2019 10:20:31 +0200 Subject: [PATCH] collision_world_distance_Field, using RCL_SYSTEM_TIME --- .../src/collision_world_distance_field.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp index 8b9869f95a..893299c8e8 100644 --- a/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp +++ b/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp @@ -480,7 +480,7 @@ void CollisionWorldDistanceField::notifyObjectChange(CollisionWorldDistanceField World::Action action) { // WallTime - auto n = std::chrono::system_clock::now(); + auto n = rclcpp::Clock(RCL_SYSTEM_TIME).now(); EigenSTL::vector_Vector3d add_points; EigenSTL::vector_Vector3d subtract_points; self->updateDistanceObject(obj->id_, self->distance_field_cache_entry_, add_points, subtract_points); @@ -500,7 +500,7 @@ void CollisionWorldDistanceField::notifyObjectChange(CollisionWorldDistanceField } RCLCPP_DEBUG(LOGGER_COLLISION_WORLD_DISTANCE_FIELD, "Modifying object %s took %lf s", obj->id_.c_str(), - std::chrono::system_clock::now() - n); + rclcpp::Clock(RCL_SYSTEM_TIME).now() - n); } void CollisionWorldDistanceField::updateDistanceObject(const std::string& id, DistanceFieldCacheEntryPtr& dfce,