use NodeParameterInterface instead of /parameter_event to update "use…

[fujitatomoya]

…_sim_time"

address #2370

depends on #2742

[fujitatomoya]

CC: @Barry-Xu-2018 @iuhilnehc-ynos

[jmachowinski]

Looks good to me. While reviewing this, I stumbled over

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Line 400 in 892cae9

clock_executor_->spin_until_future_complete(future);

This could also be simplified by just spinning. The future has no way of waking up the executor, and the cancel:

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Line 433 in 892cae9

clock_executor_->cancel();

Is what stops the thread in the end...
I really don't like this spin until future complete api, I have seen a lot of wrong usages...

[ahcorde]

Pulls: #2378
Gist: https://gist.githubusercontent.com/ahcorde/79e6ba5c051490b0daa01133625efc73/raw/0e41a6ea5e570ef85bb5bc4d62ab11b03e90532d/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15636

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fujitatomoya]

@ahcorde @jmachowinski thanks for reviewing this. i need to rebase and take care of the failures.

[fujitatomoya]

Looks good to me. While reviewing this, I stumbled over

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Line 400 in 892cae9

clock_executor_->spin_until_future_complete(future);

This could also be simplified by just spinning. The future has no way of waking up the executor, and the cancel:

rclcpp/rclcpp/src/rclcpp/time_source.cpp

Line 433 in 892cae9

clock_executor_->cancel();

Is what stops the thread in the end...
I really don't like this spin until future complete api, I have seen a lot of wrong usages...

@jmachowinski agree, i can patch that with another PR (and probably backports), because this one is dependent on current rolling only. i will include you once that is ready.

[fujitatomoya]

Pulls: #2378
Gist: https://gist.githubusercontent.com/fujitatomoya/5c5385f4f86450bdac3203a85de2770f/raw/0e41a6ea5e570ef85bb5bc4d62ab11b03e90532d/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15661

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fujitatomoya]

windows failure is unrelated.