Merge pull request #495 from tkmtnt7000/PR-add-timestamp-for-play-sound

[pr2eus] Add header timestamp to actiongoal topic in play-sound
jsk-ros-pkg · Jun 22, 2023 · 16cb8fa · 16cb8fa
2 parents 8fc634d + d84d634
commit 16cb8fa
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/pr2eus/speak.l b/pr2eus/speak.l
@@ -43,6 +43,7 @@
           (when (eq (send ac :get-state) actionlib_msgs::GoalStatus::*active*)
             (send ac :cancel-goal)
             (send ac :wait-for-result :timeout 10))
+          (send goal :header :stamp (ros::time-now))
           (send goal :goal :sound_request msg)
           (setf (gethash topic-name *sound-play-clients*) ac)
           (send ac :send-goal goal)