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fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false #8484

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Aug 15, 2024
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fix(autoware_multi_object_tracker): enable trigger publish when delay_compensation is false #8484

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8 changes: 7 additions & 1 deletion perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,12 @@
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);

Check warning on line 216 in perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp

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perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp#L215-L216 

Added lines #L215 - L216 were not covered by tests
}
}

void MultiObjectTracker::onTimer()
Expand All @@ -222,7 +228,7 @@
onMessage(objects_list);
}

// Publish
// Publish with delay compensation
checkAndPublish(current_time);
}

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