Replace rclcpp::Rate with rclcpp::WallRate (#3558)

Author: onionsflying

moveit_core/robot_state/test/test_aabb.cpp

@@ -160,7 +160,7 @@ TEST_F(TestAABB, TestPR2)
   auto pub_aabb =
       node->create_publisher<visualization_msgs::msg::Marker>("/visualization_aabb", rmw_qos_profile_default);
   auto pub_obb = node->create_publisher<visualization_msgs::msg::Marker>("/visualization_obb", rmw_qos_profile_default);
-  rclcpp::Rate loop_rate(10);
+  rclcpp::WallRate loop_rate(10);
 
   // Wait for the publishers to establish connections
   sleep(5);

moveit_ros/hybrid_planning/test/test_basic_integration.cpp

@@ -219,7 +219,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     auto goal_handle_future = hp_action_client_->async_send_goal(goal_action_request_, send_goal_options_);
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();
@@ -241,7 +241,7 @@ TEST_F(HybridPlanningFixture, ActionCompletion)
     hp_action_client_->async_cancel_all_goals();
   });
 
-  rclcpp::Rate rate(10);
+  rclcpp::WallRate rate(10);
   while (!action_complete_)
   {
     executor_.spin_once();

moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp

@@ -94,7 +94,7 @@ void TfPublisher::publishPlanningSceneFrames()
   tf2_ros::TransformBroadcaster broadcaster(context_->moveit_cpp_->getNode());
 #endif
   geometry_msgs::msg::TransformStamped transform;
-  rclcpp::Rate rate(rate_);
+  rclcpp::WallRate rate(rate_);
 
   while (keep_running_)
   {

moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/trajectory_monitor_middleware_handle.hpp

@@ -66,6 +66,6 @@ class TrajectoryMonitorMiddlewareHandle : public TrajectoryMonitor::MiddlewareHa
   void sleep() override;
 
 private:
-  std::unique_ptr<rclcpp::Rate> rate_;
+  std::unique_ptr<rclcpp::WallRate> rate_;
 };
 }  // namespace planning_scene_monitor

moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

@@ -482,7 +482,7 @@ void PlanningSceneMonitor::scenePublishingThread()
     moveit_msgs::msg::PlanningScene msg;
     bool publish_msg = false;
     bool is_full = false;
-    rclcpp::Rate rate(publish_planning_scene_frequency_);
+    rclcpp::WallRate rate(publish_planning_scene_frequency_);
     {
       std::unique_lock<std::shared_mutex> ulock(scene_update_mutex_);
       while (new_scene_update_ == UPDATE_NONE && publish_planning_scene_)

moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor_middleware_handle.cpp

@@ -48,7 +48,7 @@ void planning_scene_monitor::TrajectoryMonitorMiddlewareHandle::setRate(double s
 {
   if (sampling_frequency > std::numeric_limits<double>::epsilon())
   {
-    rate_ = std::make_unique<rclcpp::Rate>(sampling_frequency);
+    rate_ = std::make_unique<rclcpp::WallRate>(sampling_frequency);
   }
 }
 

moveit_ros/warehouse/src/broadcast.cpp

@@ -121,7 +121,7 @@ int main(int argc, char** argv)
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
 
-  rclcpp::Rate rate(static_cast<int64_t>(delay) * 1000ms);
+  rclcpp::WallRate rate(static_cast<int64_t>(delay) * 1000ms);
 
   // publish the scene
   if (vm.count("scene"))