From 469b75c3effbb9d108adca56adf81b0c77a0b2e2 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 3 Oct 2013 21:16:04 +0200
Subject: [PATCH] Inputs.msg: added header with stamp

---
 msg/Inputs.msg        | 1 +
 src/libft_adapter.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/msg/Inputs.msg b/msg/Inputs.msg
index d525cfa..77ff9ba 100644
--- 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 24fa1c4..7df56b4 100644
--- 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;
-- 
2.39.5