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tmp planning_validator header update
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brkay54 committed Dec 28, 2023
1 parent 09d7b81 commit ecf4c0f
Showing 1 changed file with 4 additions and 2 deletions.
6 changes: 4 additions & 2 deletions planning/planning_validator/src/planning_validator.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -193,8 +193,10 @@ void PlanningValidator::publishTrajectory()
{
// Validation check is all green. Publish the trajectory.
if (isAllValid(validation_status_)) {
pub_traj_->publish(*current_trajectory_);
previous_published_trajectory_ = current_trajectory_;
auto msg_sent = *current_trajectory_;
msg_sent.header.stamp = this->now();
pub_traj_->publish(msg_sent);
previous_published_trajectory_ = std::make_shared<Trajectory>(msg_sent);
return;
}

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