Merge branch 'beta/x2_gen2/v0.29.2' into feat/obst-point-validator/se…

…t-validate-range/x2_gen2/v0.29.2
tier4 · Jan 10, 2025 · ab61816 · ab61816
2 parents 994d075 + 726c04e
commit ab61816
Showing 1 changed file with 5 additions and 0 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
@@ -212,6 +212,11 @@ void MultiObjectTracker::onTrigger()
   const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list);
   if (!is_objects_ready) return;
   onMessage(objects_list);
+  // Publish without delay compensation
+  if (!publish_timer_) {
+    const auto latest_object_time = rclcpp::Time(objects_list.back().second.header.stamp);
+    checkAndPublish(latest_object_time);
+  }
 }
 
 void MultiObjectTracker::onTimer()