(tmp) change perception header times

tmp perception

Author: brkay54

perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp

@@ -30,6 +30,7 @@ void DetectedObjectFeatureRemover::objectCallback(
 {
   DetectedObjects output;
   convert(*input, output);
+  output.header.stamp = this->now();
   pub_->publish(output);
 }
 

perception/detected_object_validation/src/object_lanelet_filter.cpp

@@ -115,6 +115,7 @@ void ObjectLaneletFilterNode::objectCallback(
     }
     ++index;
   }
+  output_object_msg.header.stamp = this->now();
   object_pub_->publish(output_object_msg);
 }
 

perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp

@@ -343,7 +343,7 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
       removed_objects.objects.push_back(object);
     }
   }
-
+  output.header.stamp = this->now();
   objects_pub_->publish(output);
   if (debugger_) {
     debugger_->publishRemovedObjects(removed_objects);

perception/detection_by_tracker/src/detection_by_tracker_core.cpp

@@ -219,6 +219,7 @@ void DetectionByTracker::onObjects(
       !available_trackers ||
       !object_recognition_utils::transformObjects(
         objects, input_msg->header.frame_id, tf_buffer_, transformed_objects)) {
+      detected_objects.header.stamp = this->now();
       objects_pub_->publish(detected_objects);
       return;
     }
@@ -248,7 +249,7 @@ void DetectionByTracker::onObjects(
   for (const auto & divided_object : divided_objects.feature_objects) {
     detected_objects.objects.push_back(divided_object.object);
   }
-
+  detected_objects.header.stamp = this->now();
   objects_pub_->publish(detected_objects);
 }
 

perception/lidar_centerpoint/src/node.cpp

@@ -160,7 +160,7 @@ void LidarCenterPointNode::pointCloudCallback(
   output_msg.objects = iou_bev_nms_.apply(raw_objects);
 
   detection_class_remapper_.mapClasses(output_msg);
-
+  output_msg.header.stamp = this->now();
   if (objects_sub_count > 0) {
     objects_pub_->publish(output_msg);
   }

perception/map_based_prediction/src/map_based_prediction_node.cpp

@@ -1106,7 +1106,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
       }
     }
   }
-
+  output.header.stamp = this->now();
   // Publish Results
   pub_objects_->publish(output);
   pub_debug_markers_->publish(debug_markers);

perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

@@ -304,6 +304,7 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2(
           ogm_frame_filtered_pc, *tf2_, base_link_frame_, *base_link_frame_filtered_pc_ptr)) {
       return;
     }
+    base_link_frame_filtered_pc_ptr->header.stamp = this->now();
     pointcloud_pub_->publish(std::move(base_link_frame_filtered_pc_ptr));
   }
   if (debugger_ptr_) {