update ros2 wrapper

nervosys · Mar 11, 2024 · 46133dd · 46133dd
1 parent e50f5c8
commit 46133dd
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp b/ros2/src/autonomysim_ros_pkgs/src/autonomysim_ros_wrapper.cpp
@@ -758,9 +758,8 @@ AutonomySimROSWrapper::get_lidar_msg_from_autonomysim(const nervosys::autonomyli
         if (isENU_) {
             try {
                 sensor_msgs::msg::PointCloud2 lidar_msg_enu;
-                std::chrono::nanoseconds step = 1;
                 auto transformStampedENU = tf_buffer_->lookupTransform(AUTONOMYSIM_FRAME_ID, vehicle_name,
-                                                                       rclcpp::Time(0), rclcpp::Duration(step));
+                                                                       rclcpp::Time(0), rclcpp::Duration(0, 1));
                 tf2::doTransform(lidar_msg, lidar_msg_enu, transformStampedENU);
 
                 lidar_msg_enu.header.stamp = lidar_msg.header.stamp;