fix: enable trigger publish when delay_compensation is false

autowarefoundation#8484
tier4 · Feb 13, 2025 · 287c5a2 · 287c5a2
1 parent b69fa76
commit 287c5a2
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -209,6 +209,11 @@ void MultiObjectTracker::onTrigger()
   const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list);
   if (!is_objects_ready) return;
   onMessage(objects_list);
+  // Publish without delay compensation
+  if (!publish_timer_) {
+    const auto latest_object_time = rclcpp::Time(objects_list.back().second.header.stamp);
+    checkAndPublish(latest_object_time);
+  }
 }
 
 void MultiObjectTracker::onTimer()