Merge pull request #35 from Autumn60/hotfix/ros2

Hotfix ros2 header time stamp
Field-Robotics-Japan · Jul 25, 2023 · bf53d89 · bf53d89
2 parents 30bec3d + 7ff962c
commit bf53d89
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 0 deletions.
diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs
@@ -36,7 +36,11 @@ public void Init(string frame_id)
             /// </summary>
             public void Serialize(float time)
             {
+#if ROS2
+                int sec = (int)Math.Truncate(time);
+#else
                 uint sec = (uint)Math.Truncate(time);
+# endif
                 _header.stamp.sec = sec;
                 _header.stamp.nanosec = (uint)((time - sec) * 1e+9);
                 _header.seq++;

diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs
@@ -28,7 +28,11 @@ void Start()
     void Update()
     {
         float time = Time.time;
+#if ROS2
+        int sec = (int)Math.Truncate(time);
+#else
         uint sec = (uint)Math.Truncate(time);
+# endif
         uint nanosec = (uint)((time - sec) * 1e+9);
         _message.clock.sec = sec;
         _message.clock.nanosec = nanosec;