fix(autoware_multi_object_tracker): enable trigger publish when delay…

…_compensation is false (#8484) fix: enable trigger publish when delay_compensation is false Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Aug 15, 2024 · c656530 · c656530
1 parent 3470824
commit c656530
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp
@@ -209,6 +209,12 @@ 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()
@@ -222,7 +228,7 @@ void MultiObjectTracker::onTimer()
     onMessage(objects_list);
   }
 
-  // Publish
+  // Publish with delay compensation
   checkAndPublish(current_time);
 }