use ros::Time::now() instead of camera timestamp when publishing

RobotWebTools · Nov 4, 2024 · 77368b5 · 77368b5
1 parent 3471833
commit 77368b5
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Showing 3 changed files with 6 additions and 5 deletions.
diff --git a/include/web_video_server/multipart_stream.h b/include/web_video_server/multipart_stream.h
@@ -28,7 +28,7 @@ class MultipartStream {
 		async_web_server_cpp::HttpConnection::ResourcePtr resource);
 
 private:
-  bool isBusy(const ros::Time &currentTime);
+  bool isBusy();
 
 private:
   const std::size_t max_queue_size_;

diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
@@ -149,7 +149,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::ImageConstPtr
     }
 
     last_frame = ros::Time::now();
-    sendImage(output_size_image, msg->header.stamp);
+    sendImage(output_size_image, last_frame);
   }
   catch (cv_bridge::Exception &e)
   {

diff --git a/src/multipart_stream.cpp b/src/multipart_stream.cpp
@@ -48,7 +48,7 @@ void MultipartStream::sendPartFooter(const ros::Time &time) {
 
 void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string& type,
 				       std::vector<unsigned char> &data) {
-  if (!isBusy(time))
+  if (!isBusy())
   {
     sendPartHeader(time, type, data.size());
     connection_->write_and_clear(data);
@@ -59,15 +59,16 @@ void MultipartStream::sendPartAndClear(const ros::Time &time, const std::string&
 void MultipartStream::sendPart(const ros::Time &time, const std::string& type,
 			       const boost::asio::const_buffer &buffer,
 			       async_web_server_cpp::HttpConnection::ResourcePtr resource) {
-  if (!isBusy(time))
+  if (!isBusy())
   {
     sendPartHeader(time, type, boost::asio::buffer_size(buffer));
     connection_->write(buffer, resource);
     sendPartFooter(time);
   }
 }
 
-bool MultipartStream::isBusy(const ros::Time &currentTime) {
+bool MultipartStream::isBusy() {
+  ros::Time currentTime = ros::Time::now();
   while (!pending_footers_.empty())
   {
     if (pending_footers_.front().contents.expired()) {