From aae0b4bcf75c24346d795fad794d7dd372d01c07 Mon Sep 17 00:00:00 2001
From: Manuel Schweiger <58733365+mschweig@users.noreply.github.com>
Date: Tue, 7 Jan 2025 22:04:09 +0100
Subject: [PATCH] Fixes TimeSync with robot (#544)

Signed-off-by: Manuel Schweiger <schweigermanuel@icloud.com>
---
 spot_driver/src/api/default_time_sync_api.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/spot_driver/src/api/default_time_sync_api.cpp b/spot_driver/src/api/default_time_sync_api.cpp
index ebfb48335..c52f35cce 100644
--- a/spot_driver/src/api/default_time_sync_api.cpp
+++ b/spot_driver/src/api/default_time_sync_api.cpp
@@ -1,5 +1,6 @@
 // Copyright (c) 2023-2024 Boston Dynamics AI Institute LLC. All rights reserved.
 
+#include <chrono>
 #include <spot_driver/api/default_time_sync_api.hpp>
 #include <tl_expected/expected.hpp>
 
@@ -12,6 +13,9 @@ tl::expected<google::protobuf::Duration, std::string> DefaultTimeSyncApi::getClo
   if (!time_sync_thread_) {
     return tl::make_unexpected("Time sync thread was not initialized.");
   }
+  if (!time_sync_thread_->WaitForSync(std::chrono::seconds(5))) {
+    return tl::make_unexpected("Failed to establish time sync before timing out.");
+  }
   if (!time_sync_thread_->HasEstablishedTimeSync()) {
     return tl::make_unexpected("Time sync not yet established between Spot and the local system.");
   }