fix: the callback was being called even though the updates were frequ…

…ent. the cause was ros time not being steady (ptp?) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · Jun 6, 2024 · ae0e291 · ae0e291
1 parent 3398471
commit ae0e291
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp b/nebula_ros/include/nebula_ros/common/watchdog_timer.hpp
@@ -36,7 +36,9 @@ class WatchdogTimer
   {
     uint64_t now_ns = node_.get_clock()->now().nanoseconds();
 
-    bool is_late = (now_ns - last_update_ns_) > expected_update_interval_ns_;
+    bool is_late = (last_update_ns_ > now_ns)
+                     ? false
+                     : (now_ns - last_update_ns_) > expected_update_interval_ns_;
 
     callback_(!is_late);
   }