fix(fault_manager): #155 use wall clock time instead of simulation time #159
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Pull request overview
This PR fixes a bug where the FaultManager was using simulation time (when use_sim_time=true) instead of wall clock time for fault timestamps, causing incorrect timestamps like "1970-01-01" when UI interpreted simulation time as Unix epoch.
Changes:
- Added
get_wall_clock_time()helper method to return wall clock time usingstd::chrono::system_clock - Replaced all fault-related timestamp recording from
now()to wall clock time in FaultManagerNode, SnapshotCapture, and RosbagCapture - Added comprehensive unit test to verify timestamps are valid wall clock values
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_fault_manager/include/ros2_medkit_fault_manager/fault_manager_node.hpp | Added declaration for get_wall_clock_time() helper method |
| src/ros2_medkit_fault_manager/src/fault_manager_node.cpp | Added chrono include, implemented get_wall_clock_time(), and replaced now() calls with wall clock time for fault events and auto-confirmation |
| src/ros2_medkit_fault_manager/src/snapshot_capture.cpp | Replaced node_->now() with direct wall clock time calculations for snapshot timestamps |
| src/ros2_medkit_fault_manager/src/rosbag_capture.cpp | Replaced node_->now() with direct wall clock time calculations for rosbag metadata and message timestamps |
| src/ros2_medkit_fault_manager/test/test_fault_manager.cpp | Added new test TimestampUsesWallClockNotSimTime to verify fault event timestamps use wall clock time |
When running with use_sim_time=true, fault timestamps were recorded in simulation time (seconds since sim start) instead of wall clock time. This caused incorrect timestamps like "1970-01-01" when UI interpreted simulation time as Unix epoch. Changes: - Add time_utils.hpp with get_wall_clock_ns() and get_wall_clock_time() - Replace node->now() with wall clock utilities for fault timestamps in: - FaultManagerNode: report_fault_event, publish_fault_event, auto-confirm - SnapshotCapture: on-demand and background cache timestamps - RosbagCapture: message timestamps and bag metadata - Add unit test to verify timestamps are valid wall clock values
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bburda
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Feb 1, 2026
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Pull Request
Summary
When running with use_sim_time=true, fault timestamps were recorded in simulation time (seconds since sim start) instead of wall clock time. This caused incorrect timestamps like "1970-01-01" when UI interpreted simulation time as Unix epoch.
Changes:
Issue
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Type
Testing
How was this tested / how should reviewers verify it?
Checklist