Populated header field before publishing obstacles.msg

Signed-off-by: suchetanrs <suchetan.saravanan@gmail.com>
open-rmf · Mar 24, 2024 · 279277f · 279277f
1 parent 008df0c
commit 279277f
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/rmf_obstacle_detector_laserscan/src/LaserscanDetector.cpp b/rmf_obstacle_detector_laserscan/src/LaserscanDetector.cpp
@@ -381,6 +381,8 @@ void LaserscanDetector::process()
     return;
 
   auto msg = std::make_unique<Obstacles>();
+  msg->header.frame_id = _latest_scan->header.frame_id;
+  msg->header.stamp = this->get_clock()->now();
   std::size_t id = 0;
   for (const auto& scan : scan_obstacles)
   {