fix(map_based_prediction): use object_buffer_time_length_ (#6772)

fix: use object_buffer_time_length_ Signed-off-by: Dmitrii Koldaev <[email protected]> Co-authored-by: Dmitrii Koldaev <[email protected]>
autowarefoundation · Apr 12, 2024 · 9f3633d · 9f3633d
1 parent 453d41c
commit 9f3633d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -1360,15 +1360,15 @@ void MapBasedPredictionNode::removeOldObjectsHistory(
     const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds();
 
     // Delete Old Objects
-    if (current_time - latest_object_time > 2.0) {
+    if (current_time - latest_object_time > object_buffer_time_length_) {
       invalid_object_id.push_back(object_id);
       continue;
     }
 
     // Delete old information
     while (!object_data.empty()) {
       const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds();
-      if (current_time - post_object_time > 2.0) {
+      if (current_time - post_object_time > object_buffer_time_length_) {
         // Delete Old Position
         object_data.pop_front();
       } else {