fix(simple_object_merger): fix timeout (autowarefoundation#4990)

Signed-off-by: scepter914 <scepter914@gmail.com>
tier4 · Sep 19, 2023 · 0cdecb8 · 0cdecb8
1 parent 4f35db8
commit 0cdecb8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -168,7 +168,7 @@ void SimpleObjectMergerNode::onTimer()
   output_objects.header.frame_id = node_param_.new_frame_id;
 
   for (size_t i = 0; i < input_topic_size; i++) {
-    double time_diff = (this->get_clock()->now()).seconds() -
+    double time_diff = rclcpp::Time(objects_data_.at(i)->header.stamp).seconds() -
                        rclcpp::Time(objects_data_.at(0)->header.stamp).seconds();
     if (std::abs(time_diff) < node_param_.timeout_threshold) {
       transform_ = transform_listener_->getTransform(