From e637a3b6e3860474e9111dbf8b415105df241dd8 Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Thu, 28 Mar 2024 14:34:51 +0900
Subject: [PATCH 1/3] Add option to stop control on system time jump

---
 src/ypspur_ros.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
index db27581..bba6fac 100644
--- a/src/ypspur_ros.cpp
+++ b/src/ypspur_ros.cpp
@@ -98,6 +98,7 @@ class YpspurRosNode
   int key_;
   bool simulate_;
   bool wait_convergence_of_joint_trajectory_angle_vel_;
+  bool exit_on_time_jump_;
 
   double tf_time_offset_;
 
@@ -454,6 +455,7 @@ class YpspurRosNode
     }
     pnh_.param(
         "wait_convergence_of_joint_trajectory_angle_vel", wait_convergence_of_joint_trajectory_angle_vel_, true);
+    pnh_.param("exit_on_time_jump", exit_on_time_jump_, false);
     pnh_.param("ypspur_bin", ypspur_bin_, std::string("ypspur-coordinator"));
     pnh_.param("param_file", param_file_, std::string(""));
     pnh_.param("tf_time_offset", tf_time_offset_, 0.0);
@@ -659,6 +661,8 @@ class YpspurRosNode
           args.push_back(std::string("--enable-get-digital-io"));
         if (simulate_)
           args.push_back(std::string("--without-device"));
+        if (exit_on_time_jump_)
+          args.push_back(std::string("--exit-on-time-jump"));
         if (param_file_.size() > 0)
         {
           args.push_back(std::string("-p"));

From 374fcf566eb278de29fc517f966bcf9f7a8c2c2c Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Tue, 2 Apr 2024 15:41:35 +0900
Subject: [PATCH 2/3] Update ypspur version constraint

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 0a28099..468c958 100644
--- a/package.xml
+++ b/package.xml
@@ -27,5 +27,5 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>trajectory_msgs</depend>
-  <depend version_gte="1.21.0">ypspur</depend>
+  <depend version_gte="1.22.0">ypspur</depend>
 </package>

From 9466b9a4f01cc9c3e3da88ea379a76987b2387b2 Mon Sep 17 00:00:00 2001
From: Atsushi Watanabe <atsushi.w@ieee.org>
Date: Tue, 2 Apr 2024 15:49:16 +0900
Subject: [PATCH 3/3] Reduce variable scope

---
 src/ypspur_ros.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
index bba6fac..b70b1a3 100644
--- a/src/ypspur_ros.cpp
+++ b/src/ypspur_ros.cpp
@@ -98,7 +98,6 @@ class YpspurRosNode
   int key_;
   bool simulate_;
   bool wait_convergence_of_joint_trajectory_angle_vel_;
-  bool exit_on_time_jump_;
 
   double tf_time_offset_;
 
@@ -455,7 +454,8 @@ class YpspurRosNode
     }
     pnh_.param(
         "wait_convergence_of_joint_trajectory_angle_vel", wait_convergence_of_joint_trajectory_angle_vel_, true);
-    pnh_.param("exit_on_time_jump", exit_on_time_jump_, false);
+    bool exit_on_time_jump;
+    pnh_.param("exit_on_time_jump", exit_on_time_jump, false);
     pnh_.param("ypspur_bin", ypspur_bin_, std::string("ypspur-coordinator"));
     pnh_.param("param_file", param_file_, std::string(""));
     pnh_.param("tf_time_offset", tf_time_offset_, 0.0);
@@ -661,7 +661,7 @@ class YpspurRosNode
           args.push_back(std::string("--enable-get-digital-io"));
         if (simulate_)
           args.push_back(std::string("--without-device"));
-        if (exit_on_time_jump_)
+        if (exit_on_time_jump)
           args.push_back(std::string("--exit-on-time-jump"));
         if (param_file_.size() > 0)
         {