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[pr2eus] Add header timestamp to actiongoal topic in play-sound #495

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Jun 22, 2023
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[pr2eus] Add header timestamp to actiongoal topic in play-sound #495

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1 change: 1 addition & 0 deletions pr2eus/speak.l
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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