Merge pull request #36 from Field-Robotics-Japan/hotfix/ros2_header

Hotfix ros2 header

Author: Autumn60

Assets/UnitySensorsROS/Runtime/Scripts/Serializers/Serializer.cs

@@ -28,18 +28,28 @@ public void Init(string frame_id)
             {
                 _header = new HeaderMsg();
                 _header.frame_id = frame_id;
+#if ROS2
+#else
                 _header.seq = 0;
+#endif
             }
 
             /// <summary>
             /// シリアライズ関数
             /// </summary>
             public void Serialize(float time)
             {
+#if ROS2
+                int sec = (int)Math.Truncate(time);
+#else
                 uint sec = (uint)Math.Truncate(time);
+# endif
                 _header.stamp.sec = sec;
                 _header.stamp.nanosec = (uint)((time - sec) * 1e+9);
+#if ROS2
+#else
                 _header.seq++;
+#endif
             }
         }
     }

Assets/UnitySensorsROS/Runtime/Scripts/Utils/Clock/ROSClock.cs

@@ -28,7 +28,11 @@ void Start()
     void Update()
     {
         float time = Time.time;
+#if ROS2
+        int sec = (int)Math.Truncate(time);
+#else
         uint sec = (uint)Math.Truncate(time);
+# endif
         uint nanosec = (uint)((time - sec) * 1e+9);
         _message.clock.sec = sec;
         _message.clock.nanosec = nanosec;