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updated pcl message header to include timestamp

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This commit is contained in:
Josh Dye
2022-03-21 14:31:12 -05:00
parent b4485252e5
commit 2e4f4523a1
1 changed files with 2 additions and 2 deletions
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4
ros_driver/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp
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@@ -406,6 +406,7 @@ void *DataUARTHandler::sortIncomingData( void )
// RScan->header.seq = 0; // RScan->header.seq = 0;
// RScan->header.stamp = (uint64_t)(ros::Time::now()); // RScan->header.stamp = (uint64_t)(ros::Time::now());
// RScan->header.stamp = (uint32_t) mmwData.header.timeCpuCycles; // RScan->header.stamp = (uint32_t) mmwData.header.timeCpuCycles;
pcl_conversions::toPCL(ros::Time::now(), RScan->header.stamp);
RScan->header.frame_id = frameID; RScan->header.frame_id = frameID;
RScan->height = 1; RScan->height = 1;
RScan->width = mmwData.numObjOut; RScan->width = mmwData.numObjOut;
@@ -696,9 +697,8 @@ void *DataUARTHandler::sortIncomingData( void )
//ROS_INFO("mmwData.numObjOut after = %d", mmwData.numObjOut); //ROS_INFO("mmwData.numObjOut after = %d", mmwData.numObjOut);
//ROS_INFO("DataUARTHandler Sort Thread: number of obj = %d", mmwData.numObjOut ); //ROS_INFO("DataUARTHandler Sort Thread: number of obj = %d", mmwData.numObjOut );
DataUARTHandler_pub.publish(RScan);
} }
DataUARTHandler_pub.publish(RScan);
//ROS_INFO("DataUARTHandler Sort Thread : CHECK_TLV_TYPE state says tlvCount max was reached, going to switch buffer state"); //ROS_INFO("DataUARTHandler Sort Thread : CHECK_TLV_TYPE state says tlvCount max was reached, going to switch buffer state");
sorterState = SWAP_BUFFERS; sorterState = SWAP_BUFFERS;