Merge pull request #69 from Autumn60/hotfix/ros2_header

Update VelodyneMsgSerializer.cs
Field-Robotics-Japan · Dec 3, 2023 · 872156c · 872156c
2 parents 339b873 + 7708634
commit 872156c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git 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++)