use local time

canopy-ros · Nov 8, 2017 · d571eac · d571eac
1 parent bde1d97
commit d571eac
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/src/publishermanager.py b/src/publishermanager.py
@@ -17,8 +17,12 @@ 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()
+        if self.use_local_time:
+            if hasattr(msg, "header"):
+                msg.header.stamp = rospy.get_rostime()
+            elif msg_type == "tf2_msgs/TFMessage":
+                for t in msg.transforms:
+                    t.header.stamp = rospy.get_rostime()
         return msg, msg_cls
 
     # Publishes newly received messages.