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Add offset-timestamp param #109

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Add offset-timestamp param #109

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1 change: 1 addition & 0 deletions joint_state_publisher/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ Subscribed Topics
Parameters
----------
* `rate` (int) - The rate at which to publish updates to the `/joint_states` topic. Defaults to 10.
* `offset_timestamp`(double) - The offset to add to the timestamp of the published message, in seconds. Defaults to 0.0.
* `publish_default_positions` (bool) - Whether to publish a default position for each movable joint to the `/joint_states` topic. Defaults to True.
* `publish_default_velocities` (bool) - Whether to publish a default velocity for each movable joint to the `/joint_states` topic. Defaults to False.
* `publish_default_efforts` (bool) - Whether to publish a default effort for each movable joint to the `/joint_states` topic. Defaults to False.
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6 changes: 4 additions & 2 deletions joint_state_publisher/joint_state_publisher/joint_state_publisher.py
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Expand Up @@ -370,6 +370,8 @@ def __init__(self, description_file):
ParameterDescriptor(type=ParameterType.PARAMETER_BOOL))
self.declare_ros_parameter('delta', 0.0,
ParameterDescriptor(type=ParameterType.PARAMETER_DOUBLE))
self.declare_ros_parameter('offset_timestamp', 0.0,
ParameterDescriptor(type=ParameterType.PARAMETER_DOUBLE))
# In theory we would also declare 'dependent_joints' and 'zeros' here.
# Since rclpy doesn't support maps natively, though, we just end up
# letting 'automatically_declare_parameters_from_overrides' declare
Expand All @@ -390,6 +392,7 @@ def __init__(self, description_file):
self.pub_def_positions = self.get_param('publish_default_positions')
self.pub_def_vels = self.get_param('publish_default_velocities')
self.pub_def_efforts = self.get_param('publish_default_efforts')
self.offset_timestamp = self.get_param('offset_timestamp')

self.robot_description_update_cb = None

Expand Down Expand Up @@ -468,8 +471,7 @@ def set_robot_description_update_cb(self, user_cb):
def timer_callback(self):
# Publish Joint States
msg = sensor_msgs.msg.JointState()
msg.header.stamp = self.get_clock().now().to_msg()

msg.header.stamp = (self.get_clock().now() + rclpy.duration.Duration(seconds=self.offset_timestamp)).to_msg()
if self.delta > 0:
self.update(self.delta)

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