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Fix time error in autoware_health_checker

Yuma Nihei requested to merge yn-mrse/common:fix/health_checker_time_error into master

Fixed bug

Fix for node death behavior due to time calculation. image

Required information:

  • Operating system and version:
    • Ubuntu 16.04
  • Autoware installation type:
    • From source
  • Autoware version or commit hash
  • ROS distribution and version:
    • Kinetic
  • ROS installation type:
    • From binaries(apt)
  • Package or library, if applicable:
    • especially, the node using health_checker

Description of the bug

If the following conditions occur in combination, the node stops with an error.

  • use_sim_time = true
  • When clock is not output
  • health_checker's CHECK function is called

Fix applied

The cause of the error is that unsigned type subtract (0 - n).

In this MR, this problem is solved by switching the subtraction part to addition.

Edited by Yuma Nihei

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