From 17c210919ded199e7b299f22289e52a8f5bf282f Mon Sep 17 00:00:00 2001 From: Alexey Rogachevskiy Date: Tue, 4 Aug 2020 13:19:58 +0300 Subject: [PATCH] simple_offboard: relax position_msg timestamp update rules (#264) * simple_offboard: Relax position_msg timestamp update rules * Little code style change Co-authored-by: Oleg Kalachev --- clover/src/simple_offboard.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp index fd419ad7..fdb509af 100644 --- a/clover/src/simple_offboard.cpp +++ b/clover/src/simple_offboard.cpp @@ -417,8 +417,9 @@ void publish(const ros::Time stamp) } if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) { + position_msg.header.stamp = stamp; + if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) { - position_msg.header.stamp = stamp; position_pub.publish(position_msg); } else {