fix(vehicle_cmd_gate): add missing time stamp (tier4#530)

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
boyali · Oct 19, 2022 · 3c91a26 · 3c91a26
1 parent f2295f8
commit 3c91a26
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -514,7 +514,10 @@ autoware_auto_control_msgs::msg::AckermannControlCommand VehicleCmdGate::createS
   const
 {
   autoware_auto_control_msgs::msg::AckermannControlCommand cmd;
-  cmd.stamp = this->now();
+  const auto t = this->now();
+  cmd.stamp = t;
+  cmd.lateral.stamp = t;
+  cmd.longitudinal.stamp = t;
   cmd.lateral.steering_tire_angle = current_steer_;
   cmd.lateral.steering_tire_rotation_rate = 0.0;
   cmd.longitudinal.speed = 0.0;
@@ -527,7 +530,10 @@ autoware_auto_control_msgs::msg::AckermannControlCommand
 VehicleCmdGate::createEmergencyStopControlCmd() const
 {
   autoware_auto_control_msgs::msg::AckermannControlCommand cmd;
-
+  const auto t = this->now();
+  cmd.stamp = t;
+  cmd.lateral.stamp = t;
+  cmd.longitudinal.stamp = t;
   cmd.lateral.steering_tire_angle = prev_control_cmd_.lateral.steering_tire_angle;
   cmd.lateral.steering_tire_rotation_rate = prev_control_cmd_.lateral.steering_tire_rotation_rate;
   cmd.longitudinal.speed = 0.0;