From 170369aeb804e173d45c7f351387e2411b097962 Mon Sep 17 00:00:00 2001
From: A-Harada <37181352+Autumn60@users.noreply.github.com>
Date: Tue, 5 Dec 2023 03:24:28 +0900
Subject: [PATCH] Update VelodyneMsgSerializer.cs (#70)

---
 .../Serializers/LiDAR/Velodyne/VelodyneMsgSerializer.cs     | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/LiDAR/Velodyne/VelodyneMsgSerializer.cs b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/LiDAR/Velodyne/VelodyneMsgSerializer.cs
index bba6f0d9..7c1a6607 100644
--- a/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/LiDAR/Velodyne/VelodyneMsgSerializer.cs
+++ b/Assets/UnitySensorsROS/Runtime/Scripts/Serializers/LiDAR/Velodyne/VelodyneMsgSerializer.cs
@@ -64,7 +64,11 @@ public VelodyneScanMsg Serialize(float time)
             
             _msg.header = _header.header;
 
-            uint sec = _header.header.stamp.sec;
+#if ROS2
+            int sec = (int)_header.header.stamp.sec;
+#else
+            uint sec = (uint)_header.header.stamp.sec;
+# endif
             uint nanosec = _header.header.stamp.nanosec;
 
             for (int i = 0; i < _msg.packets.Length; i++)