From 3fff9940a612b6e3ef243ef41b65d8f75bfd2eea Mon Sep 17 00:00:00 2001 From: mbsaloka Date: Wed, 25 Feb 2026 00:12:03 +0700 Subject: [PATCH] feat: add timestamp header for image publisher --- src/shisen_cpp/camera/node/camera_node.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/shisen_cpp/camera/node/camera_node.cpp b/src/shisen_cpp/camera/node/camera_node.cpp index 8801cb5..ef76059 100644 --- a/src/shisen_cpp/camera/node/camera_node.cpp +++ b/src/shisen_cpp/camera/node/camera_node.cpp @@ -60,7 +60,12 @@ void CameraNode::update() void CameraNode::on_mat_captured(cv::Mat mat) { - image_publisher->publish(image_provider->get_image()); + auto image_msg = image_provider->get_image(); + + image_msg.header.stamp = node->get_clock()->now(); + image_msg.header.frame_id = "camera"; + + image_publisher->publish(image_msg); } void CameraNode::on_camera_config(int width, int height)