feat(tier4_autoware_utils): add time argument in appendMarkerArray (#…

…1415) * feat(tier4_autoware_utils): add time argument in appendMarkerArray Signed-off-by: Takayuki Murooka <[email protected]> * add default argument Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Sep 14, 2022 · f9a325e · f9a325e
1 parent 96707c7
commit f9a325e
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp
@@ -19,6 +19,8 @@
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
+#include <boost/optional.hpp>
+
 #include <string>
 
 namespace tier4_autoware_utils
@@ -88,10 +90,15 @@ inline visualization_msgs::msg::Marker createDefaultMarker(
 
 inline void appendMarkerArray(
   const visualization_msgs::msg::MarkerArray & additional_marker_array,
-  visualization_msgs::msg::MarkerArray * marker_array)
+  visualization_msgs::msg::MarkerArray * marker_array,
+  const boost::optional<rclcpp::Time> & current_time = {})
 {
   for (const auto & marker : additional_marker_array.markers) {
     marker_array->markers.push_back(marker);
+
+    if (current_time) {
+      marker_array->markers.back().header.stamp = current_time.get();
+    }
   }
 }
 }  // namespace tier4_autoware_utils