Fixing possible problem with calculating duration when time is misbeh…

…aving (#734)
swri-robotics · Jun 3, 2024 · da7f710 · da7f710
1 parent 3e3e332
commit da7f710
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/swri_roscpp/include/swri_roscpp/subscriber_impl.h b/swri_roscpp/include/swri_roscpp/subscriber_impl.h
@@ -68,8 +68,9 @@ class SubscriberImpl
     // timeout count.
     checkTimeout(now);
 
-    // Do not use this message for statistics if it is arriving out of order
-    if (stamp >= last_header_stamp_) {
+    // Do not use this message for statistics if it is arriving out of order or time
+    // synchronization makes it appear that the new timestamp is from the future
+    if ((stamp >= last_header_stamp_) && (now >= stamp)) {
       message_count_++;
 
       if (!stamp.isZero() && !now.isZero()) {