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Change gdt to etsi epoch

This commit is contained in:
Yu Asabe 2021-12-05 15:21:46 +09:00
parent 773528499e
commit cc7ac3ce44
1 changed files with 3 additions and 2 deletions
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5
src/v2x_app.cpp
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@ -57,8 +57,9 @@ namespace v2x
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
long long gdt_timestamp_msec = gdt_timestamp / 1000000; long long gdt_timestamp_msec = gdt_timestamp / 1000000;
int gdt = gdt_timestamp_msec % 65536; // milliseconds long long gdt_timestamp_msec_etsi_epoch = gdt_timestamp_msec - 1072915200000;
RCLCPP_INFO(node_->get_logger(), "gdt %d, gdt_timestamp %ld, gdt_timestamp_msec %ld", gdt, gdt_timestamp, gdt_timestamp_msec); int gdt = gdt_timestamp_msec_etsi_epoch % 65536; // milliseconds
RCLCPP_INFO(node_->get_logger(), "gdt %d, gdt_timestamp %ld, gdt_timestamp_etsi %ld", gdt, gdt_timestamp_msec, gdt_timestamp_msec_etsi_epoch);
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;