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reset throttling stamp if time moves backwards #123

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reset throttling stamp if time moves backwards #123

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7 changes: 7 additions & 0 deletions nodelet_topic_tools/include/nodelet_topic_tools/nodelet_throttle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,13 @@ class NodeletThrottle : public nodelet::Nodelet

void callback(const boost::shared_ptr<const M>& cloud)
{
if (last_update_ > ros::Time::now())
{
// This is normal if playing back from a bag with loop
NODELET_WARN("time moved backwards, resetting");
last_update_ = ros::Time::now();
}

if (max_update_rate_ > 0.0)
{
NODELET_DEBUG("update set to %f", max_update_rate_);
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