From d84d6343bb404c1d9350f97ba62d7063561c3e09 Mon Sep 17 00:00:00 2001
From: Naoto Tsukamoto <naototukka0413@gmail.com>
Date: Wed, 7 Jun 2023 18:53:32 +0900
Subject: [PATCH] [pr2eus] Add timestamp to actiongoal topic in play-sound

---
 pr2eus/speak.l | 1 +
 1 file changed, 1 insertion(+)

diff --git a/pr2eus/speak.l b/pr2eus/speak.l
index 0d1e8ddfa..53f29006a 100644
--- 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)