Change pc2 time stamp to match lidar time stamp

[adelmhi]

Issue description

the pc2_msg published with the topic /cloud_in takes as time stamp the rclcpp::Node::now() function. Since the point cloud is supposed to combine and replicate lidar signal, it would make more sens to use the timestamp of the laser1_ message.

Possible fix

https://github.com/mich1342/ros2_laser_scan_merger/blob/fd0468edd547bf2e2da85372e76de4a31f5ed118/src/main.cpp#L218C1-L218C13
pc2_msg_->header.stamp = now();

CHange this line to pc2_msg_->header.stamp = laser1_->header.stamp;

[mich1342]

Hi, I agree with your points. Will do some changes later on this weekend. Thank you

[mich1342]

I am sorry, I have not got time recently to make the update. Will try to do and test for the update later this weekend

[adelmhi]

Hello Michael,
Hope you're dong well ! Have you got a change to look into this issue ? Thank you !

[mich1342]

Hi @KenStonck ,

Unfortunately I still have not got any time to test the updated code. I have not got any access to my current hardware right now. Will let you know once I got chance to test it with a real hardware before publishing an update.

[mich1342]

Hi @adelmhi ,

Sorry for the late reply. Could you kindly check the new branch #19 under the mich1342-patch-1 branch name? When it is good I will merge it into the main branch. Thank you