From 295f080d5098c9d4bceaf995d76a57a0a7d133ad Mon Sep 17 00:00:00 2001 From: Jan Gutsche Date: Fri, 13 Mar 2026 12:54:06 +0100 Subject: [PATCH] fix(world_model_capsule): use correct Time implementation for message --- .../bitbots_blackboard/capsules/world_model_capsule.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py index 6578b7c50..5c2d8a129 100644 --- a/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py +++ b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py @@ -58,9 +58,10 @@ def __init__(self, node, blackboard): self.map_margin: float = self._node.get_parameter("map_margin").value # Ball state + # The ball in the map frame (default to the center of the field if ball is not seen yet) self._ball: PointStamped = PointStamped( - header=Header(stamp=Time(clock_type=ClockType.ROS_TIME), frame_id=self.map_frame) - ) # The ball in the map frame (default to the center of the field if ball is not seen yet) + header=Header(stamp=Time(clock_type=ClockType.ROS_TIME).to_msg(), frame_id=self.map_frame) + ) self._ball_covariance: np.ndarray = np.zeros((2, 2)) # Covariance of the ball # Publisher for visualization in RViZ