move local time to publisher

src/client_node.py

@@ -34,7 +34,7 @@ def __init__(self, host, port, name, broadcasting, private_key,
         self.description = description
         self.global_frames = global_frames
         self.leaflets = leaflets
-        self.pub_man = pm.PublisherManager()
+        self.pub_man = pm.PublisherManager(use_local_time)
         self.timer = threading.Timer(0.1, self.descriptionSend)
 
     def post_leaflet_urls(self):
@@ -113,7 +113,7 @@ def callback(msg):
             self.conn[topic].send_message(data)
         return callback
 
-    def modify_child_frame(self, message):
+    def modify_child_frame_id(self, message):
         if (message.child_frame_id.find("/") > 0 or
                 message.child_frame_id.count("/") > 1):
             return message
@@ -137,17 +137,12 @@ def modify_header_frame_id(self, message):
                 message.header.frame_id = "{}{}".format(
                     self.name, message.header.frame_id)
 
-    def modify_header_stamp(self, message):
-        message.header.stamp = rospy.get_rostime()
-
     def modify_stamped_message(self, message):
         if hasattr(message, 'child_frame_id'):
-            self.modify_child_frame(message)
+            self.modify_child_frame_id(message)
 
         if hasattr(message, 'header'):
             self.modify_header_frame_id(message)
-            if self.use_local_time:
-                self.modify_header_stamp(message)
         return message
 
     # Periodic function to send the client description.

src/publishermanager.py

@@ -6,7 +6,8 @@
 # Manages ROS publishers for received messages.
 class PublisherManager(object):
 
-    def __init__(self):
+    def __init__(self, use_local_time):
+        self.use_local_time = use_local_time
         self.pubs = dict()
 
     # Converts message dictionary to ROS message for publishing.
@@ -16,6 +17,8 @@ def create_msg(self, msg_dict, msg_type):
         msg_cls = getattr(mod.msg, msg_name)
         msg = message_converter.convert_dictionary_to_ros_message(
             msg_type, msg_dict)
+        if self.use_local_time and hasattr(msg, "header"):
+            msg.header.stamp = rospy.get_rostime()
         return msg, msg_cls
 
     # Publishes newly received messages.