draft

autowarefoundation · Jan 30, 2024 · b751212 · b751212
1 parent b5a6160
commit b751212
Show file tree

Hide file tree

Showing 3 changed files with 414 additions and 247 deletions.
diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp
@@ -155,8 +155,36 @@ struct PublisherVariables
   rclcpp::TimerBase::SharedPtr timer;
 };
 
+template <typename T>
+struct PublisherVariablesMessageTypeExtractor;
+
+template <typename MessageType>
+struct PublisherVariablesMessageTypeExtractor<PublisherVariables<MessageType>> {
+  using Type = MessageType;
+};
+
+template<typename T, typename = std::void_t<>>
+struct has_header : std::false_type {};
+
+template<typename T>
+struct has_header<T, std::void_t<decltype(T::header)>> : std::true_type {};
+
+
 struct PublisherVarAccessor {
 
+  // Method to set header time if available
+  template <typename T>
+  void setHeaderTimeIfAvailable(T& publisherVar, const rclcpp::Time& time) {
+    if constexpr (has_header<typename T::MessageType>::value) {
+      if (publisherVar.empty_area_message) {
+        publisherVar.empty_area_message->header.stamp = time;
+      }
+      if (publisherVar.object_spawned_message) {
+        publisherVar.object_spawned_message->header.stamp = time;
+      }
+    }
+  }
+
   // Set Period
   template <typename T>
   void setPeriod(T& publisherVar, double newPeriod) {

diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    use_sim_time: true
+    use_sim_time: false
     #running_mode: "perception_planning" # or planning_control
     run_from_bag: true
     path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag-without-car-full/rosbag2_2024_01_17-16_23_07_0.db3