Inputs.msg: added header with stamp

diff --git a/msg/Inputs.msg b/msg/Inputs.msg
index d525cfa14563583f3710a83a2efca9b3b0f0e9ef..77ff9babf2dac40939e5e536134975ed7b1c4b93 100644 (file)
--- a/msg/Inputs.msg
+++ b/msg/Inputs.msg
@@ -1,3 +1,4 @@
+std_msgs/Header header
 bool[8] input
 int8[8] output
 int16 ax

diff --git a/src/libft_adapter.cpp b/src/libft_adapter.cpp
index 24fa1c474f420f7fce679338a5036d5a4c7d9ca0..7df56b45c620c4e2b567cdc13404d7258ef74de1 100644 (file)
--- a/src/libft_adapter.cpp
+++ b/src/libft_adapter.cpp
@@ -100,6 +100,7 @@ int main(int argc, char **argv)
                roboint::Inputs msg;
 
                pthread_mutex_lock(&pwm_mutex);
+               msg.header.stamp = ros::Time::now();
                sem_wait(&hFt->lock);
                for (int i=0; i<=7; i++) {
                        msg.input[i] = (transfer_area->E_Main & (1<<i)) >> i;