fix issue where images timestamped in a different time domain from host failed to stop streams after connection is closed

QuentinTorg · QuentinTorg · commit 44b13a0a036a · 2024-11-04T18:43:10.000-05:00
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
@@ -200,7 +200,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
     }
 
     last_frame = node_->now();
-    sendImage(output_size_image, msg->header.stamp);
+    sendImage(output_size_image, last_frame);
   } catch (cv_bridge::Exception & e) {
     auto & clk = *node_->get_clock();
     RCLCPP_ERROR_THROTTLE(node_->get_logger(), clk, 40, "cv_bridge exception: %s", e.what());

Original file line number	Diff line number	Diff line change
`@@ -200,7 +200,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C`
`200`	`200`	`}`
`201`	`201`
`202`	`202`	`last_frame = node_->now();`
`203`		`- sendImage(output_size_image, msg->header.stamp);`
	`203`	`+ sendImage(output_size_image, last_frame);`
`204`	`204`	`} catch (cv_bridge::Exception & e) {`
`205`	`205`	`auto & clk = *node_->get_clock();`
`206`	`206`	`RCLCPP_ERROR_THROTTLE(node_->get_logger(), clk, 40, "cv_bridge exception: %s", e.what());`