Pass clock via constructor

Signed-off-by: Tim Clephas <[email protected]>

Author: Timple

nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp

@@ -43,6 +43,7 @@
 #include <vector>
 
 #include "rclcpp/logger.hpp"
+#include "rclcpp/clock.hpp"
 #include "nav2_costmap_2d/cost_values.hpp"
 #include "nav2_costmap_2d/layer.hpp"
 #include "nav2_costmap_2d/costmap_2d.hpp"
@@ -63,6 +64,7 @@ class LayeredCostmap
    */
   LayeredCostmap(
     const rclcpp::Logger & logger,
+    const rclcpp::Clock & clock,
     std::string global_frame,
     bool rolling_window,
     bool track_unknown);
@@ -223,6 +225,7 @@ class LayeredCostmap
 
 private:
   rclcpp::Logger logger_;
+  rclcpp::Clock clock_;
 
   // primary_costmap_ is a bottom costmap used by plugins when costmap filters were enabled.
   // combined_costmap_ is a final costmap where all results produced by plugins and filters (if any)

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -157,7 +157,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   // Create the costmap itself
   layered_costmap_ = std::make_unique<LayeredCostmap>(
-    get_logger(), global_frame_, rolling_window_, track_unknown_space_);
+    get_logger(), *get_clock(), global_frame_, rolling_window_, track_unknown_space_);
 
   if (!layered_costmap_->isSizeLocked()) {
     layered_costmap_->resizeMap(

nav2_costmap_2d/src/layered_costmap.cpp

@@ -56,11 +56,14 @@ namespace nav2_costmap_2d
 
 LayeredCostmap::LayeredCostmap(
   const rclcpp::Logger & logger,
+  const rclcpp::Clock & clock,
   std::string global_frame,
   bool rolling_window,
   bool track_unknown)
 : logger_(logger),
-  primary_costmap_(), combined_costmap_(),
+  clock_(clock),
+  primary_costmap_(),
+  combined_costmap_(),
   global_frame_(global_frame),
   rolling_window_(rolling_window),
   current_(false),
@@ -88,7 +91,8 @@ LayeredCostmap::LayeredCostmap(
 }
 
 LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown)
-: LayeredCostmap(rclcpp::get_logger("nav2_costmap_2d"), global_frame, rolling_window, track_unknown)
+: LayeredCostmap(rclcpp::get_logger("nav2_costmap_2d"), rclcpp::Clock{RCL_ROS_TIME}, global_frame,
+    rolling_window, track_unknown)
 {
 }
 
@@ -158,11 +162,7 @@ void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
   }
 
   if (isOutofBounds(robot_x, robot_y)) {
-    rclcpp::Clock clock{RCL_ROS_TIME};
-    RCLCPP_WARN_THROTTLE(
-      logger_,
-      clock, 5000,
-      "Robot is out of bounds of the costmap");
+    RCLCPP_WARN_THROTTLE(logger_, clock_, 5000, "Robot is out of bounds of the costmap");
   }
 
   if (plugins_.size() == 0 && filters_.size() == 0) {