From 261ffacf82998ed7e2e634b1ebee723d63b27f2f Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Tue, 7 Jan 2025 18:57:27 +0900 Subject: [PATCH] fix: enable trigger publish when delay_compensation is false https://github.com/autowarefoundation/autoware.universe/pull/8484 --- .../multi_object_tracker/src/multi_object_tracker_core.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 203889856e50a..9c482afcfa71b 100644 --- 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()