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feat: set timestamp to max_velocity topic #125

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merged 2 commits into from
Aug 21, 2024
+4 −1
Merged

feat: set timestamp to max_velocity topic #125

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59170e3
set timestamp to max_velocity topic
Autumn60 Aug 21, 2024
1d2c39c
fix constructor order
Autumn60 Aug 21, 2024
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2 changes: 2 additions & 0 deletions awapi_awiv_adapter/include/awapi_awiv_adapter/awapi_max_velocity_publisher.hpp
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Original file line number Diff line number Diff line change
@@ -30,6 +30,8 @@ class AutowareIvMaxVelocityPublisher
void statePublisher(const AutowareInfo & aw_info);

private:
rclcpp::Clock::SharedPtr clock_;

// publisher
rclcpp::Publisher<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr pub_state_;

3 changes: 2 additions & 1 deletion awapi_awiv_adapter/src/awapi_max_velocity_publisher.cpp
View file
Original file line number Diff line number Diff line change
@@ -18,7 +18,7 @@ namespace autoware_api
{
AutowareIvMaxVelocityPublisher::AutowareIvMaxVelocityPublisher(
rclcpp::Node & node, const double default_max_velocity)
: default_max_velocity_(default_max_velocity)
: clock_(node.get_clock()), default_max_velocity_(default_max_velocity)
{
// publisher
pub_state_ = node.create_publisher<tier4_planning_msgs::msg::VelocityLimit>(
@@ -32,6 +32,7 @@ void AutowareIvMaxVelocityPublisher::statePublisher(const AutowareInfo & aw_info
aw_info.max_velocity_ptr, aw_info.temporary_stop_ptr,
&max_velocity.max_velocity)) // publish info
{
max_velocity.stamp = clock_->now();
pub_state_->publish(max_velocity);
}
}