documentation of time_utils in MPC
Need more clarity on what the functions in time_utils
are supported to do, more importantly units for input and output and some reasoning.
I found from_message
returning in microseconds
confusing as rest of the util is using nanoseconds
including to_message
builtin_interfaces::msg::Duration to_message(std::chrono::nanoseconds dt);
std::chrono::microseconds from_message(builtin_interfaces::msg::Duration dt) noexcept;
This has caused bugs here where from_message
has been used as if it was returning nanoseconds
.
Edited by Jit Ray Chowdhury