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Fix: use node clock for cone tick timing (avoid time source mismatch)

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cyy
2026-07-03 08:21:05 +00:00
parent e0aa66dff8
commit 6459f7c6f5
1 changed files with 3 additions and 3 deletions
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6
src/main.cpp
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@@ -266,9 +266,9 @@ private:
} }
// READY: online cone discovery (3Hz) + optional dynamic obstacles // READY: online cone discovery (3Hz) + optional dynamic obstacles
if (has_scan_) { if (has_scan_) {
auto now = rclcpp::Clock().now(); auto cone_now = this->now();
if (online_cone_enable_ && (now - last_cone_tick_).seconds() > 0.3) { if (online_cone_enable_ && (cone_now - last_cone_tick_).seconds() > 0.3) {
last_cone_tick_ = now; last_cone_tick_ = cone_now;
cone_updater_.update(latest_scan_, pose, fence_model_, known_cones_); cone_updater_.update(latest_scan_, pose, fence_model_, known_cones_);
auto new_cones = cone_updater_.popConfirmed(); auto new_cones = cone_updater_.popConfirmed();
for (auto& c : new_cones) { for (auto& c : new_cones) {