Explicit time conversion (#657)

Signed-off-by: Guilherme Rodrigues <[email protected]>
ros2 · Nov 13, 2023 · a29e656 · a29e656
1 parent cad665e
commit a29e656
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/quality_of_service_demo/rclcpp/src/message_lost_listener.cpp b/quality_of_service_demo/rclcpp/src/message_lost_listener.cpp
@@ -33,7 +33,8 @@ class MessageLostListener : public rclcpp::Node
       [this](const sensor_msgs::msg::Image::ConstSharedPtr msg) -> void
       {
         rclcpp::Time now = this->get_clock()->now();
-        auto diff = now - msg->header.stamp;
+        rclcpp::Time stamp_time(msg->header.stamp, RCL_ROS_TIME);
+        auto diff = now - stamp_time;
         RCLCPP_INFO(
           this->get_logger(),
           "I heard an image. Message single trip latency: [%f]",

diff --git a/quality_of_service_demo/rclcpp/src/qos_overrides_listener.cpp b/quality_of_service_demo/rclcpp/src/qos_overrides_listener.cpp
@@ -34,7 +34,8 @@ class QosOverridesListener : public rclcpp::Node
       [this](sensor_msgs::msg::Image::ConstSharedPtr msg) -> void
       {
         rclcpp::Time now = this->get_clock()->now();
-        auto diff = now - msg->header.stamp;
+        rclcpp::Time stamp_time(msg->header.stamp, RCL_ROS_TIME);
+        auto diff = now - stamp_time;
         RCLCPP_INFO(
           this->get_logger(),
           "I heard an image. Message single trip latency: [%f]",