From e07648f5952a353f646a5a4d8e2261ba98200b64 Mon Sep 17 00:00:00 2001 From: AiVerisimilitude <133206333+AiVerisimilitude@users.noreply.github.com> Date: Mon, 13 Nov 2023 18:07:33 +0100 Subject: [PATCH] Avoid unecessary time conversions. (#635) Signed-off-by: Guilherme Rodrigues --- tf2_ros/include/tf2_ros/message_filter.h | 2 +- tf2_ros/test/listener_unittest.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tf2_ros/include/tf2_ros/message_filter.h b/tf2_ros/include/tf2_ros/message_filter.h index d9ad2885e..71a5f0edc 100644 --- a/tf2_ros/include/tf2_ros/message_filter.h +++ b/tf2_ros/include/tf2_ros/message_filter.h @@ -456,7 +456,7 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi */ void add(const MConstPtr & message) { - builtin_interfaces::msg::Time t = node_clock_->get_clock()->now(); + auto t = node_clock_->get_clock()->now(); add(MEvent(message, t)); } diff --git a/tf2_ros/test/listener_unittest.cpp b/tf2_ros/test/listener_unittest.cpp index cea029764..86f209e1d 100644 --- a/tf2_ros/test/listener_unittest.cpp +++ b/tf2_ros/test/listener_unittest.cpp @@ -72,7 +72,7 @@ TEST(tf2_ros_test_listener, transform_listener) geometry_msgs::msg::TransformStamped out_rootc = buffer.lookupTransform( "a", "b", - builtin_interfaces::msg::Time()); + rclcpp::Time()); EXPECT_EQ(1, out_rootc.transform.translation.x); EXPECT_EQ(2, out_rootc.transform.translation.y);