From: Erik Andresen <erik@vontaene.de>
Date: Thu, 3 Oct 2013 19:16:04 +0000 (+0200)
Subject: Inputs.msg: added header with stamp
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=commitdiff_plain;h=469b75c3effbb9d108adca56adf81b0c77a0b2e2;hp=839da311672219243b7f0bc3291b331f92a395c8

Inputs.msg: added header with stamp
---

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;