Reset clock publisher timer outisde playback loop

ros2 · Nov 24, 2024 · 64bd7a4 · 64bd7a4
1 parent db4c90e
commit 64bd7a4
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -488,15 +488,19 @@ bool PlayerImpl::play()
           std::chrono::nanoseconds delay_duration(delay.nanoseconds());
           std::this_thread::sleep_for(delay_duration);
         }
+        {
+          std::lock_guard<std::mutex> lk(reader_mutex_);
+          clock_->jump(starting_time_);
+        }
+        if (clock_publish_timer_ != nullptr) {
+          clock_publish_timer_->reset();
+        }
         do {
           {
             std::lock_guard<std::mutex> lk(reader_mutex_);
             reader_->seek(starting_time_);
             clock_->jump(starting_time_);
           }
-          if (clock_publish_timer_ != nullptr) {
-            clock_publish_timer_->reset();
-          }
           load_storage_content_ = true;
           storage_loading_future_ = std::async(
             std::launch::async, [this]() {