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add timestamps to the published trajectory #129

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add timestamps to the published trajectory #129

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326af0a
add timestamps to the published trajectory
ayhamalharbat May 19, 2023
c394064
gitignore
ayhamalharbat May 20, 2023
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5 changes: 5 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -36,3 +36,8 @@

# Matlab
*.m~

# vscode & clion
.vscode
.idea
cmake-build-debug
2 changes: 2 additions & 0 deletions mav_trajectory_generation_ros/src/trajectory_sampler_node.cpp
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Expand Up @@ -101,6 +101,7 @@ void TrajectorySamplerNode::processTrajectory() {
&trajectory_points);
trajectory_msgs::MultiDOFJointTrajectory msg_pub;
msgMultiDofJointTrajectoryFromEigen(trajectory_points, &msg_pub);
msg_pub.header.stamp = ros::Time::now();
command_pub_.publish(msg_pub);
} else {
publish_timer_.start();
Expand All @@ -118,6 +119,7 @@ bool TrajectorySamplerNode::stopSamplingCallback(
void TrajectorySamplerNode::commandTimerCallback(const ros::TimerEvent&) {
if (current_sample_time_ <= trajectory_.getMaxTime()) {
trajectory_msgs::MultiDOFJointTrajectory msg;
msg.header.stamp = ros::Time::now();
mav_msgs::EigenTrajectoryPoint trajectory_point;
bool success = mav_trajectory_generation::sampleTrajectoryAtTime(
trajectory_, current_sample_time_, &trajectory_point);
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