From 598b81adf941a96422b901c8a922c4dc88a10608 Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Fri, 16 Feb 2024 15:34:43 +0300
Subject: [PATCH] feat(autoware_common_msgs): add published time debug message

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
 autoware_common_msgs/CMakeLists.txt        | 10 +++++++++-
 autoware_common_msgs/msg/PublishedTime.msg |  7 +++++++
 autoware_common_msgs/package.xml           |  1 +
 3 files changed, 17 insertions(+), 1 deletion(-)
 create mode 100644 autoware_common_msgs/msg/PublishedTime.msg

diff --git a/autoware_common_msgs/CMakeLists.txt b/autoware_common_msgs/CMakeLists.txt
index 56886f6..3ab7698 100644
--- a/autoware_common_msgs/CMakeLists.txt
+++ b/autoware_common_msgs/CMakeLists.txt
@@ -4,8 +4,16 @@ project(autoware_common_msgs)
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-rosidl_generate_interfaces(${PROJECT_NAME}
+set(msg_files
   "msg/ResponseStatus.msg"
+  "msg/PublishedTime.msg")
+
+set(msg_dependencies
+  builtin_interfaces)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES ${msg_dependencies}
 )
 
 ament_auto_package()
diff --git a/autoware_common_msgs/msg/PublishedTime.msg b/autoware_common_msgs/msg/PublishedTime.msg
new file mode 100644
index 0000000..d060ec2
--- /dev/null
+++ b/autoware_common_msgs/msg/PublishedTime.msg
@@ -0,0 +1,7 @@
+# The debug message which includes header and publishing timestamp
+
+# Message header time
+builtin_interfaces/Time header_stamp
+
+# Timestamp when the message was published
+builtin_interfaces/Time published_stamp
diff --git a/autoware_common_msgs/package.xml b/autoware_common_msgs/package.xml
index 35ca50a..ddf6712 100644
--- a/autoware_common_msgs/package.xml
+++ b/autoware_common_msgs/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
+  <depend>builtin_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>