[ontopy] fix ros1 feederpublisher

sarthou · Jan 12, 2024 · 1664e68 · 1664e68
1 parent 4b4c980
commit 1664e68
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/ontopy/ontologenius/FeederPublisher.py b/ontopy/ontologenius/FeederPublisher.py
@@ -3,10 +3,7 @@
 import os
 
 from std_msgs.msg import String
-if os.environ["ROS_VERSION"] == "1":
-    from ontologenius.msg import StampedString
-else:
-    from ontologenius.msg import OntologeniusStampedString as StampedString
+from ontologenius.msg import OntologeniusStampedString as StampedString
 
 import time
 import random

diff --git a/ontopy/ontologenius/compat/ros.py b/ontopy/ontologenius/compat/ros.py
@@ -65,7 +65,9 @@ def createSubscriber(sub_name, sub_type, callback):
             return OntoSubscriber(sub_name, sub_type, callback)
 
         def getRosTime():
-            return rospy.get_rostime() # TODO
+            t_msg = rospy.get_rostime()
+            stamp_msg = OntologeniusTimestamp(seconds = t_msg.secs, nanoseconds = t_msg.nsecs)
+            return stamp_msg
 
         def isShutdown():
             return rospy.is_shutdown()