Program failed to compare rclcpp::Time instances with different time types

[XCYRKDSDA]

I launched the node HdlLocalizationNodelet with robot odometry prediction enabled. It died and reported:

terminate called after throwing an instance of 'std::runtime_error'
   what():  can't compare times with different time sources

After some debugging, I found that this error was directly come from line 261 of the file hdl_localization_nodelet.cpp:

hdl-localization-ROS2/hdl_localization/apps/hdl_localization_nodelet.cpp

Lines 260 to 261 in 35de917

	rclcpp::Time last_correction_time = pose_estimator->last_correction_time();
	if (enable_robot_odometry_prediction && last_correction_time != rclcpp::Time((int64_t)0, get_clock()->get_clock_type())) {

I found that the member PoseEstimator::last_correction_stamp is not explicitly initialized in the constructor of PoseEstimator, and the default constructor of rclcpp::Time will sets its type to RCL_SYSTEM_TIME. Therefore, when the program first comes to line 261, the last_correction_time is of type RCL_SYSTEM_TIME while the right side of the comparison is of type RCL_ROS_TIME, leading to the error.

I think PoseEstimator::last_correction_stamp might need an initialization similar to that of PoseEstimator::prev_stamp, for example:

last_correction_stamp = rclcpp::Time((int64_t)0, init_stamp.get_clock_type());

The program did work after adding this line in the constructor.