Fix modulo error (#2258)

The denominator for the modulo operation was too large, causing incorrect nanosecond timestamp values. The denominator should have been 1.0 instead of 10.0. Co-authored-by: Misheel Bayartsengel <[email protected]>
usdot-fhwa-stol · Jan 5, 2024 · 4651dc4 · 4651dc4
1 parent 4413270
commit 4651dc4
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
@@ -173,7 +173,7 @@ static auto to_ros_msg(const mot::CtraTrack & track)
 
   msg.header.stamp.sec = mot::remove_units(units::math::floor(track.timestamp));
   msg.header.stamp.nanosec = mot::remove_units(
-    units::time::nanosecond_t{units::math::fmod(track.timestamp, units::time::second_t{10.0})});
+    units::time::nanosecond_t{units::math::fmod(track.timestamp, units::time::second_t{1.0})});
   msg.header.frame_id = "map";
 
   msg.id = track.uuid.value();
@@ -204,7 +204,7 @@ static auto to_ros_msg(const mot::CtrvTrack & track)
 
   msg.header.stamp.sec = mot::remove_units(units::math::floor(track.timestamp));
   msg.header.stamp.nanosec = mot::remove_units(
-    units::time::nanosecond_t{units::math::fmod(track.timestamp, units::time::second_t{10.0})});
+    units::time::nanosecond_t{units::math::fmod(track.timestamp, units::time::second_t{1.0})});
   msg.header.frame_id = "map";
 
   msg.id = track.uuid.value();