From 5d14e4ffc16cfff6d16a7214bd2a574e422172cf Mon Sep 17 00:00:00 2001
From: Johann Mantel <j-mantel@gmx.net>
Date: Fri, 23 Jul 2021 17:12:14 +0200
Subject: [PATCH] convert recvTime to publish it
---
source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
index 6371db062..1e9a011f3 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
@@ -170,7 +170,10 @@ namespace armarx
} // return success to continue looping
//TODO: convert ros::Time recvTimeStamp to IceUtil
- scanTime = TimeUtil::GetTime();
+ ros::Time correctedStamp = recvTimeStamp + ros::Duration(config_.time_offset);
+ uint64_t recvMsec = correctedStamp.toNSec() / 1000;
+ scanTime = IceUtil::Time::milliSeconds(recvMsec);
+ //scanTime = TimeUtil::GetTime();
//msg.header.stamp = recvTimeStamp + ros::Duration(config_.time_offset);
//datagrams are enclosed in <STX> (0x02), <ETX> (0x03) pairs
--
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