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fix(ros): fixed ros timestamp of publishing is delayed.

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This commit is contained in:
Osenberg 2019-06-17 14:54:02 +08:00
parent 4c4df74432
commit 78d3e27430
1 changed files with 4 additions and 4 deletions
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8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -104,7 +104,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) { ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {
static bool isInited = false; static bool isInited = false;
static std::uint32_t soft_time_begin(0); static double soft_time_begin(0);
static std::uint64_t hard_time_begin(0); static std::uint64_t hard_time_begin(0);
if (false == isInited) { if (false == isInited) {
@ -116,10 +116,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
std::uint64_t time_ns_detal = (_hard_time - hard_time_begin); std::uint64_t time_ns_detal = (_hard_time - hard_time_begin);
std::uint64_t time_ns_detal_s = time_ns_detal / 1000000; std::uint64_t time_ns_detal_s = time_ns_detal / 1000000;
std::uint64_t time_ns_detal_ns = time_ns_detal % 1000000; std::uint64_t time_ns_detal_ns = time_ns_detal % 1000000;
double time_sec_double =
ros::Time(time_ns_detal_s, time_ns_detal_ns * 1000).toSec();
return ros::Time( return ros::Time(soft_time_begin + time_sec_double);
soft_time_begin + time_ns_detal_s,
time_ns_detal_ns * 1000);
} }
// ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) { // ros::Time hardTimeToSoftTime(std::uint64_t _hard_time) {