From 07dd6d0725a6f2e877535cbdffa6affd11084c4e Mon Sep 17 00:00:00 2001 From: Alexey Rogachevskiy Date: Mon, 3 Aug 2020 15:30:04 +0300 Subject: [PATCH 1/2] simple_offboard: Relax position_msg timestamp update rules --- clover/src/simple_offboard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp index fd419ad70..c6d02c411 100644 --- a/clover/src/simple_offboard.cpp +++ b/clover/src/simple_offboard.cpp @@ -417,8 +417,8 @@ void publish(const ros::Time stamp) } if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) { + position_msg.header.stamp = stamp; if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) { - position_msg.header.stamp = stamp; position_pub.publish(position_msg); } else { From 120a326e8728c98b544bee0fe38ac88af9d65b4d Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 4 Aug 2020 13:19:24 +0300 Subject: [PATCH 2/2] Little code style change --- clover/src/simple_offboard.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/clover/src/simple_offboard.cpp b/clover/src/simple_offboard.cpp index c6d02c411..fdb509af0 100644 --- a/clover/src/simple_offboard.cpp +++ b/clover/src/simple_offboard.cpp @@ -418,6 +418,7 @@ void publish(const ros::Time stamp) if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) { position_msg.header.stamp = stamp; + if (setpoint_yaw_type == YAW || setpoint_yaw_type == TOWARDS) { position_pub.publish(position_msg);