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Manual Stamps #57

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Manual Stamps #57

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4 changes: 3 additions & 1 deletion Runtime/Tx/ProBridgeTxStamped.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,13 @@ namespace ProBridge.Tx
public abstract class ProBridgeTxStamped<T> : ProBridgeTx<T> where T : std_msgs.IRosMsg, std_msgs.msg.IStamped, new()
{
public string frame_id = "";

protected bool autoAddStamp = true;

protected override ProBridge.Msg GetMsg(TimeSpan ts)
{
data.header.frame_id = frame_id;
data.header.stamp = ts;
if(autoAddStamp) data.header.stamp = ts;

return base.GetMsg(ts);
}
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