Fix the return type of Rate::period. (#2301)

In a recent commit (bc43577), we reworked how the Rate class worked so it could be used with ROS time as well. Unfortunately, we also accidentally broke the API of it by changing the return type of Rate::period to a Duration instead of a std::chrono::nanoseconds . Put this back to a std::chrono::nanoseconds; if we want to change it to a Duration, we'll have to add a new method and deprecate this one. Signed-off-by: Chris Lalancette <[email protected]>
ros2 · Sep 8, 2023 · dd6fad6 · dd6fad6
1 parent 38734d7
commit dd6fad6
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/rclcpp/include/rclcpp/rate.hpp b/rclcpp/include/rclcpp/rate.hpp
@@ -163,7 +163,7 @@ class Rate : public RateBase
   reset();
 
   RCLCPP_PUBLIC
-  Duration
+  std::chrono::nanoseconds
   period() const;
 
 private:

diff --git a/rclcpp/src/rclcpp/rate.cpp b/rclcpp/src/rclcpp/rate.cpp
@@ -14,6 +14,7 @@
 
 #include "rclcpp/rate.hpp"
 
+#include <chrono>
 #include <stdexcept>
 
 namespace rclcpp
@@ -87,10 +88,10 @@ Rate::reset()
   last_interval_ = clock_->now();
 }
 
-Duration
+std::chrono::nanoseconds
 Rate::period() const
 {
-  return period_;
+  return std::chrono::nanoseconds(period_.nanoseconds());
 }
 
 WallRate::WallRate(const double rate)