From f7e18e09fa1543575f6d0cf039ea03e718e14637 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 1 Jan 2023 19:04:16 +0100
Subject: [PATCH 1/3] Fix cv_bridge deprication warning

---
 src/ros_bridge/src/webots_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ros_bridge/src/webots_controller.cpp b/src/ros_bridge/src/webots_controller.cpp
index 8b75351..1bc8db9 100644
--- a/src/ros_bridge/src/webots_controller.cpp
+++ b/src/ros_bridge/src/webots_controller.cpp
@@ -13,7 +13,7 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <sensor_msgs/msg/imu.hpp>
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 
 #include "ros_bridge/robot_client/robot_client.hpp"
 

From b85ccbe31d3d3e011b61a27371837aa709155239 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 1 Jan 2023 20:50:04 +0100
Subject: [PATCH 2/3] Fix relative file access

---
 src/ros_bridge/src/webots_controller.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/ros_bridge/src/webots_controller.cpp b/src/ros_bridge/src/webots_controller.cpp
index 1bc8db9..165a17b 100644
--- a/src/ros_bridge/src/webots_controller.cpp
+++ b/src/ros_bridge/src/webots_controller.cpp
@@ -28,6 +28,7 @@ class WebotsController : public rclcpp::Node {
     // Parameters
     this->declare_parameter<std::string>("host", "127.0.0.1");
     this->declare_parameter<int>("port", 10001);
+    this->declare_parameter<const char*>("devices", "src/ros_bridge/resources/devices.json");
 
     // Publishers
     clock_publisher_ = this->create_publisher<rosgraph_msgs::msg::Clock>("clock", 10);
@@ -52,8 +53,14 @@ class WebotsController : public rclcpp::Node {
     // Enable devices
     ActuatorRequests request;
     Json::Value devices;
-    std::ifstream json_file("src/ros_bridge/resources/devices.json");
-    json_file >> devices;
+    std::ifstream json_file(this->get_parameter("devices").as_string());
+
+    // Check if we can open the file
+    if (json_file.is_open()) {
+      json_file >> devices;
+    } else {
+      throw std::runtime_error("Could not open devices.json, check 'devices' parameter!");
+    }
 
     // Cameras
     for (unsigned int i = 0; i < devices["cameras"].size(); i++) {

From 5bf8a7d83e10e6464571ee01f3ac4097b632c405 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Sun, 1 Jan 2023 20:50:25 +0100
Subject: [PATCH 3/3] Fix misscaled time

---
 src/ros_bridge/src/webots_controller.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/ros_bridge/src/webots_controller.cpp b/src/ros_bridge/src/webots_controller.cpp
index 165a17b..ce4e3fd 100644
--- a/src/ros_bridge/src/webots_controller.cpp
+++ b/src/ros_bridge/src/webots_controller.cpp
@@ -102,7 +102,10 @@ class WebotsController : public rclcpp::Node {
         client->sendRequest(request);
         SensorMeasurements sensors = client->receive();
         auto clk = rosgraph_msgs::msg::Clock();
-        clk.clock = rclcpp::Time(sensors.time());
+        int time = sensors.time();  // Time in ms
+        clk.clock.sec = time / 1000;
+        clk.clock.nanosec = (time % 1000) * 1000000;
+
         clock_publisher_->publish(clk);
         publishImage(sensors);
         publishSensors(sensors);