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Use current time to check if observation is out of date #1872

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Jul 16, 2020
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Use current time to check if observation is out of date #1872

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2 changes: 1 addition & 1 deletion nav2_costmap_2d/src/observation_buffer.cpp
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Expand Up @@ -234,7 +234,7 @@ void ObservationBuffer::purgeStaleObservations()
Observation & obs = *obs_it;
// check if the observation is out of date... and if it is,
// remove it and those that follow from the list
if ((last_updated_ - obs.cloud_->header.stamp) > observation_keep_time_) {
if ((nh_->now() - obs.cloud_->header.stamp) > observation_keep_time_) {
observation_list_.erase(obs_it, observation_list_.end());
return;
}
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