fix(multi_object_tracker): fix publish interval adjust timing (autowa…

…refoundation#7904) (#1400) refactor: optimize publish time check in multi_object_tracker_node.cpp Signed-off-by: Taekjin LEE <[email protected]>
tier4 · Jul 9, 2024 · 4e18b80 · 4e18b80
1 parent 7777632
commit 4e18b80
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -222,8 +222,9 @@ void MultiObjectTracker::onTrigger()
   } else {
     // Publish if the next publish time is close
     const double minimum_publish_interval = publisher_period_ * 0.70;  // 70% of the period
-    if ((current_time - last_published_time_).seconds() > minimum_publish_interval) {
-      checkAndPublish(current_time);
+    const rclcpp::Time publish_time = this->now();
+    if ((publish_time - last_published_time_).seconds() > minimum_publish_interval) {
+      checkAndPublish(publish_time);
     }
   }
 }