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Add gdt log

This commit is contained in:
Yu Asabe 2021-12-05 14:17:08 +09:00
parent 3dad90566f
commit 773528499e
1 changed files with 2 additions and 1 deletions
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3
src/v2x_app.cpp
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@ -56,8 +56,9 @@ namespace v2x
int gdt_timestamp_sec = msg->transforms[0].header.stamp.sec; // seconds int gdt_timestamp_sec = msg->transforms[0].header.stamp.sec; // seconds
int gdt_timestamp_nsec = msg->transforms[0].header.stamp.nanosec; // nanoseconds int gdt_timestamp_nsec = msg->transforms[0].header.stamp.nanosec; // nanoseconds
long long gdt_timestamp = gdt_timestamp_sec * 1e9 + gdt_timestamp_nsec; // nanoseconds long long gdt_timestamp = gdt_timestamp_sec * 1e9 + gdt_timestamp_nsec; // nanoseconds
int gdt_timestamp_msec = gdt_timestamp / 1e6; long long gdt_timestamp_msec = gdt_timestamp / 1000000;
int gdt = gdt_timestamp_msec % 65536; // milliseconds int gdt = gdt_timestamp_msec % 65536; // milliseconds
RCLCPP_INFO(node_->get_logger(), "gdt %d, gdt_timestamp %ld, gdt_timestamp_msec %ld", gdt, gdt_timestamp, gdt_timestamp_msec);
double rot_x = msg->transforms[0].transform.rotation.x; double rot_x = msg->transforms[0].transform.rotation.x;
double rot_y = msg->transforms[0].transform.rotation.y; double rot_y = msg->transforms[0].transform.rotation.y;