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fix(world_model_capsule): use correct Time implementation for message #779

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Merged
texhnolyze merged 1 commit into from
Mar 13, 2026
Merged

fix(world_model_capsule): use correct Time implementation for message #779

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5 changes: 3 additions & 2 deletions src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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