Do not put the time_data_ into a RealtimeBuffer

It is accessed from the RT thread only, anyway.
fmauch · Jul 3, 2024 · 1fb38b8 · 1fb38b8
1 parent 71ccb39
commit 1fb38b8
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Showing 2 changed files with 8 additions and 10 deletions.
diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -173,8 +173,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   std::vector<double> tmp_command_;
 
   // Things around speed scaling
-  realtime_tools::RealtimeBuffer<TimeData> time_data_;
   double scaling_factor_{1.0};
+  TimeData time_data_;
 
   // Timeout to consider commands old
   double cmd_timeout_;

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -197,13 +197,12 @@ controller_interface::return_type JointTrajectoryController::update(
     // Adjust time with scaling factor
     TimeData time_data;
     time_data.time = time;
-    rcl_duration_value_t t_period = (time_data.time - time_data_.readFromRT()->time).nanoseconds();
+    rcl_duration_value_t t_period = (time_data.time - time_data_.time).nanoseconds();
     time_data.period = rclcpp::Duration::from_nanoseconds(t_period) * scaling_factor_;
-    time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
+    time_data.uptime = time_data_.uptime + time_data.period;
     rclcpp::Time traj_time =
-      time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
-    time_data_.reset();
-    time_data_.initRT(time_data);
+      time_data_.uptime + rclcpp::Duration::from_nanoseconds(t_period);
+    time_data_ = time_data;
 
     bool first_sample = false;
     // if sampling the first time, set the point before you sample
@@ -948,10 +947,9 @@ controller_interface::CallbackReturn JointTrajectoryController::on_activate(
   default_tolerances_ = get_segment_tolerances(params_);
   // Setup time_data buffer used for scaling
   TimeData time_data;
-  time_data.time = get_node()->now();
-  time_data.period = rclcpp::Duration::from_nanoseconds(0);
-  time_data.uptime = get_node()->now();
-  time_data_.initRT(time_data);
+  time_data_.time = get_node()->now();
+  time_data_.period = rclcpp::Duration::from_nanoseconds(0);
+  time_data_.uptime = get_node()->now();
 
   // order all joints in the storage
   for (const auto & interface : params_.command_interfaces)