From d73d8e88893fd858ca84fa66624d2d2a48ecd9d9 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Date: Fri, 22 Apr 2022 14:52:21 +0900
Subject: [PATCH] fix(emergency_handler): add missing timestamp for emergency
 control command

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
---
 .../src/emergency_handler/emergency_handler_core.cpp            | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
index 50a5ed851c29f..61f60a7f34031 100644
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
+++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -132,6 +132,8 @@ void EmergencyHandler::publishControlCommands()
     autoware_auto_control_msgs::msg::AckermannControlCommand msg;
     msg = selectAlternativeControlCommand();
     msg.stamp = stamp;
+    msg.lateral.stamp = stamp;
+    msg.longitudinal.stamp = stamp;
     pub_control_command_->publish(msg);
   }