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autowarefoundation · Dec 28, 2023 · c4f419d · c4f419d
1 parent 4704073
commit c4f419d
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml
@@ -20,7 +20,7 @@
         topic_name: /control/command/control_cmd
         message_type: autoware_auto_control_msgs::msg::AckermannControlCommand
     observer:
-      timer_period: 0.1 # s
+      timer_period: 0.033 # s
       spawn_distance_threshold: 15.0
       control_cmd_buffer_time_interval: 1.0
       min_number_descending_order_control_cmd: 8

diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
@@ -296,6 +296,7 @@ void ReactionAnalyzerNode::onTimer()
   if (spawn_cmd_time && !all_topics_reacted_) {
     all_topics_reacted_ = true;
     for (const auto & [key, variant] : messageBuffers) {
+      const auto current_time = this->now();
       if (auto * message = std::get_if<ControlBuffer>(&variant)) {
         if (!message->second) {
           all_topics_reacted_ = false;
@@ -322,7 +323,7 @@ void ReactionAnalyzerNode::onTimer()
           if (zero_vel_idx) {
             std::cout << key << " found: nearest_idx: " << nearest_idx
                       << " zero_vel_idx: " << zero_vel_idx.value()
-                      << " size: " << message->first.points.size() << " stamp: " << message->first.header.stamp.nanosec << std::endl;
+                      << " size: " << message->first.points.size() << " stamp: " << current_time.nanoseconds() << std::endl;
             mutex_.lock();
             auto * tmp = std::get_if<PlanningBuffer>(&messageBuffers_[key]);
             if (tmp) tmp->second = message->first;