Function resolveHourAmbiguity

• Defined in File time_conversion.hpp

Function Documentation

inline rclcpp::Time resolveHourAmbiguity(const rclcpp::Time &stamp, const rclcpp::Time &nominal_stamp)

Function used to check that hour assigned to timestamp in conversion is correct. Velodyne only returns time since the top of the hour, so if the computer clock and the velodyne clock (gps-synchronized) are a little off, there is a chance the wrong hour may be associated with the timestamp.

Parameters:

• stamp – timestamp recovered from velodyne

• nominal_stamp – time coming from computer’s clock

Returns:

timestamp from velodyne, possibly shifted by 1 hour if the function arguments disagree by more than a half-hour.