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EventsRos.cpp

@@ -304,6 +304,11 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
 {
 #if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_) || defined(_SEND_MSG_TO_PUBLIC_ROS_)
     jfx_common_msgs::OutFusionEventObjs eventMsgs = {};
+    uint64_t cur_timestamp = 0;
+    if (outs->pt.size() == 4)
+    {
+        cur_timestamp = outs->pt[0];
+    }
     for (auto& iter : outs->objs)
     {
         jfx_common_msgs::OutFusionEventObj msg = {};
@@ -320,6 +325,8 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
         msg.all_id = iter.id;
         msg.type = iter.name;
         msg.plate_no = iter.licensePlateNumber;
+        if (iter.time < cur_timestamp)
+            iter.time = cur_timestamp;
         msg.time = iter.time;
         msg.Prob = iter.prob;
         msg.now_x = iter.nowX;