Yarp: Module ignores `YARP_CLOCK` depending on where the yarp::os::Network is defined

Created on 3 May 2018 · 5Comments · Source: robotology/yarp

I wanted to run a module in Gazebo and synchronize it through the Network clock instead of the System clock. To do so, I run Gazebo with the option -slibgazebo_yarp_clock.so and the module with YARP_CLOCK=/clock, but the module ignored completely this setting and used the System clock (the output of isNetworkClock() was always false).

After discussing with @traversaro and @pattacini, we found out that the Yarp Network was defined after some manipulation on the Resource Finder.

yarp::os::ResourceFinder &rf = yarp::os::ResourceFinder::getResourceFinderSingleton();
...
yarp::os::Network yarp;
if (!yarp::os::Network::checkNetwork(5.0))
{
    yError() << " YARP server not available!";
    return EXIT_FAILURE;
}

The problem was solved by defining the Yarp Network before the code related to the Resource Finder. Nevertheless, I think it would be beneficial to get an error message to avoid this kind of mistake.

Reminder - Documentation Needed

Source