Overwrite message receipt time to prevent gaps.

locusrobotics · Apr 29, 2020 · e407e16 · e407e16
1 parent 38b5916
commit e407e16
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/tools/rosbag/src/recorder.cpp b/tools/rosbag/src/recorder.cpp
@@ -409,9 +409,12 @@ void Recorder::startWriting() {
     if (options_.repeat_latched)
     {
         // Start each new bag file with copies of all latched messages.
+        ros::Time now = ros::Time::now();
         for (auto const& out : latched_msgs_)
         {
-            bag_.write(out.second.topic, out.second.time, *out.second.msg);
+            // Overwrite the original receipt time, otherwise the new bag will
+            // have a gap before the new messages start.
+            bag_.write(out.second.topic, now, *out.second.msg);
         }
     }