don't take a timestamp too early

ros-perception · May 7, 2022 · d114516 · d114516
1 parent bf6787d
commit d114516
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/depth_image_proc/test/test_register.py b/depth_image_proc/test/test_register.py
@@ -68,7 +68,6 @@ def test_register(self):
         rospy.loginfo(depth)
 
         depth_msg = self.cv_bridge.cv2_to_imgmsg(depth, "32FC1")
-        ci_msg.header.stamp = rospy.Time.now()
         rgb_ci_msg = copy.deepcopy(ci_msg)
         rgb_ci_msg.header.frame_id = "station2"
         depth_msg.header = ci_msg.header
@@ -90,6 +89,10 @@ def test_register(self):
         self.count = 0
         rospy.loginfo("publishing depth and ci, wait for callbacks")
         for i in range(4):
+            stamp = rospy.Time.now()
+            ci_msg.header.stamp = stamp
+            rgb_ci_msg.header.stamp = stamp
+            depth_msg.header.stamp = stamp
             self.depth_image_pub.publish(depth_msg)
             self.depth_ci_pub.publish(ci_msg)
             self.rgb_ci_pub.publish(rgb_ci_msg)