move header setup to right before publishing

PTG-Kitware · Oct 16, 2024 · f948c24 · f948c24
1 parent 45df6c9
commit f948c24
Showing 1 changed file with 7 additions and 8 deletions.
diff --git a/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py b/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py
@@ -642,8 +642,12 @@ def rt_loop(self):
                         act_msg = self._process_window(window)
                         # log.info(f"activity message: {act_msg}")
                         self._collect_results(act_msg)
-                        # overwriting this time to make sure the msg time is post inference
+                        # set the header right before publishing so that the time is post image processing
+                        act_msg.header.frame_id = "Activity Classification"
                         act_msg.header.stamp = self.get_clock().now().to_msg()
+                        act_msg.source_stamp_start_frame = window.frames[0][0]
+                        act_msg.source_stamp_end_frame = window.frames[-1][0]
+                        act_msg.label_vec = self._model.classes
                         self._activity_publisher.publish(act_msg)
                     except NoActivityClassification:
                         # No ramifications, but don't publish activity message.
@@ -794,13 +798,8 @@ def _process_window(self, window: InputWindow) -> ActivityDetection:
 
         # Prepare output message
         activity_msg = ActivityDetection()
-        activity_msg.header.frame_id = "Activity Classification"
-        activity_msg.header.stamp = (
-            self.get_clock().now().to_msg()
-        )  # note: this will be overwritten later (post inference)
-        activity_msg.source_stamp_start_frame = window.frames[0][0]
-        activity_msg.source_stamp_end_frame = window.frames[-1][0]
-        activity_msg.label_vec = self._model.classes
+
+        # save the activity probabilities
         activity_msg.conf_vec = proba.tolist()
 
         if self._enable_trace_logging: