Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(ndt_scan_matcher): changed the type of timestamp from double to int in ndt diag #7128

Merged
merged 1 commit into from
May 28, 2024
Merged

fix(ndt_scan_matcher): changed the type of timestamp from double to int in ndt diag #7128

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion localization/ndt_scan_matcher/src/map_update_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ void MapUpdateModule::callback_timer(
const bool is_activated, const std::optional<geometry_msgs::msg::Point> & position,
std::unique_ptr<DiagnosticsModule> & diagnostics_ptr)
{
diagnostics_ptr->addKeyValue("timer_callback_time_stamp", clock_->now().seconds());
diagnostics_ptr->addKeyValue("timer_callback_time_stamp", clock_->now().nanoseconds());

// check is_activated
diagnostics_ptr->addKeyValue("is_activated", is_activated);
Expand Down
11 changes: 6 additions & 5 deletions localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -214,7 +214,8 @@ void NDTScanMatcher::callback_initial_pose_main(
const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr)
{
diagnostics_initial_pose_->addKeyValue(
"topic_time_stamp", static_cast<rclcpp::Time>(initial_pose_msg_ptr->header.stamp).seconds());
"topic_time_stamp",
static_cast<rclcpp::Time>(initial_pose_msg_ptr->header.stamp).nanoseconds());

// check is_activated
diagnostics_initial_pose_->addKeyValue("is_activated", static_cast<bool>(is_activated_));
Expand Down Expand Up @@ -255,7 +256,7 @@ void NDTScanMatcher::callback_regularization_pose(
diagnostics_regularization_pose_->clear();

diagnostics_regularization_pose_->addKeyValue(
"topic_time_stamp", static_cast<rclcpp::Time>(pose_conv_msg_ptr->header.stamp).seconds());
"topic_time_stamp", static_cast<rclcpp::Time>(pose_conv_msg_ptr->header.stamp).nanoseconds());

regularization_pose_buffer_->push_back(pose_conv_msg_ptr);

Expand Down Expand Up @@ -295,7 +296,7 @@ bool NDTScanMatcher::callback_sensor_points_main(

// check topic_time_stamp
const rclcpp::Time sensor_ros_time = sensor_points_msg_in_sensor_frame->header.stamp;
diagnostics_scan_points_->addKeyValue("topic_time_stamp", sensor_ros_time.seconds());
diagnostics_scan_points_->addKeyValue("topic_time_stamp", sensor_ros_time.nanoseconds());

// check sensor_points_size
const size_t sensor_points_size = sensor_points_msg_in_sensor_frame->width;
Expand Down Expand Up @@ -867,7 +868,7 @@ void NDTScanMatcher::service_trigger_node(
std_srvs::srv::SetBool::Response::SharedPtr res)
{
diagnostics_trigger_node_->clear();
diagnostics_trigger_node_->addKeyValue("service_call_time_stamp", this->now().seconds());
diagnostics_trigger_node_->addKeyValue("service_call_time_stamp", this->now().nanoseconds());

is_activated_ = req->data;
if (is_activated_) {
Expand Down Expand Up @@ -905,7 +906,7 @@ void NDTScanMatcher::service_ndt_align_main(
const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req,
tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res)
{
diagnostics_ndt_align_->addKeyValue("service_call_time_stamp", this->now().seconds());
diagnostics_ndt_align_->addKeyValue("service_call_time_stamp", this->now().nanoseconds());

// get TF from pose_frame to map_frame
const std::string & target_frame = param_.frame.map_frame;
Expand Down
Loading