From ecf4c0f58b0a120c9f758ab38a1ba545cda19842 Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Thu, 28 Dec 2023 13:50:54 +0300
Subject: [PATCH] tmp planning_validator header update

---
 planning/planning_validator/src/planning_validator.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp
index 58af2c08ccb22..cfc41d97f2687 100644
--- a/planning/planning_validator/src/planning_validator.cpp
+++ b/planning/planning_validator/src/planning_validator.cpp
@@ -193,8 +193,10 @@ void PlanningValidator::publishTrajectory()
 {
   // Validation check is all green. Publish the trajectory.
   if (isAllValid(validation_status_)) {
-    pub_traj_->publish(*current_trajectory_);
-    previous_published_trajectory_ = current_trajectory_;
+    auto msg_sent = *current_trajectory_;
+    msg_sent.header.stamp = this->now();
+    pub_traj_->publish(msg_sent);
+    previous_published_trajectory_ = std::make_shared<Trajectory>(msg_sent);
     return;
   }