fix for no match

PTG-Kitware · Nov 25, 2024 · b43e5cf · b43e5cf
1 parent 6bdc52f
commit b43e5cf
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py b/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py
@@ -159,15 +159,17 @@ def rt_loop(self):
                         det_msg = self._det
                     dt_time = time_to_float(det_msg.header.stamp)
                     img_time = self.get_msg_time_from_source(det_msg.source_stamp)
-                    det_lat = dt_time - time_to_float(img_time)
+                    if img_time is not None:
+                        det_lat = dt_time - time_to_float(img_time)
 
                 pose_lat = None
                 if self._pose:
                     with self._cur_pose_msg_lock:
                         pose_msg = self._pose
                     ps_time = time_to_float(pose_msg.header.stamp)
                     img_time = self.get_msg_time_from_source(pose_msg.source_stamp)
-                    pose_lat = ps_time - time_to_float(img_time)
+                    if img_time is not None:
+                        pose_lat = ps_time - time_to_float(img_time)
 
                 act_lat_start = None
                 act_lat_end = None
@@ -178,11 +180,13 @@ def rt_loop(self):
                     img_time = self.get_msg_time_from_source(
                         act_msg.source_stamp_start_frame
                     )
-                    act_lat_start = act_time - time_to_float(img_time)
+                    if img_time is not None:
+                        act_lat_start = act_time - time_to_float(img_time)
                     img_time = self.get_msg_time_from_source(
                         act_msg.source_stamp_end_frame
                     )
-                    act_lat_end = act_time - time_to_float(img_time)
+                    if img_time is not None:
+                        act_lat_end = act_time - time_to_float(img_time)
 
                 # save the info to the message
                 data = {