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Fix timestamping, see issues/1\#issuecomment-1864760707 #8

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Fix timestamping, see issues/1\#issuecomment-1864760707 #8

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8 changes: 7 additions & 1 deletion src/manager/source_driver_ros2.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@

#pragma once
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/clock.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <sstream>
#include <hesai_ros_driver/msg/udp_frame.hpp>
Expand Down Expand Up @@ -214,10 +215,15 @@ inline sensor_msgs::msg::PointCloud2 SourceDriver::ToRosMsg(const LidarDecodedFr
sensor_msgs::PointCloud2Iterator<float> iter_intensity_(ros_msg, "intensity");
sensor_msgs::PointCloud2Iterator<uint16_t> iter_ring_(ros_msg, "ring");
sensor_msgs::PointCloud2Iterator<double> iter_timestamp_(ros_msg, "timestamp");

rclcpp::Clock clock(RCL_ROS_TIME);
rclcpp::Time current_time = clock.now();
ros_msg.header.stamp = current_time;
int64_t nanoseconds = current_time.nanoseconds();
double timestamp_seconds = static_cast<double>(nanoseconds) * 1e-9;
for (size_t i = 0; i < frame.points_num; i++)
{
LidarPointXYZIRT point = frame.points[i];
frame.points[i].timestamp=timestamp_seconds;
*iter_x_ = point.x;
*iter_y_ = point.y;
*iter_z_ = point.z;
Expand Down