add validation with absolute function

Signed-off-by: MasatoSaeki <[email protected]>
autowarefoundation · Dec 24, 2024 · 982643f · 982643f
1 parent ab2e428
commit 982643f
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp
@@ -120,7 +120,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP
   latest_perception_msg_ = *msg;
 
   if (
-    (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds() >
+    std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds()) >
     external_time_tolerance_) {
     latest_external_msg_.traffic_light_groups.clear();
   }
@@ -130,7 +130,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP
 
 void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr msg)
 {
-  if ((this->now() - rclcpp::Time(msg->stamp)).seconds() > external_delay_tolerance_) {
+  if (std::abs((this->now() - rclcpp::Time(msg->stamp)).seconds()) > external_delay_tolerance_) {
     RCLCPP_WARN_THROTTLE(
       get_logger(), *get_clock(), 5000, "Received outdated V2X traffic signal messages");
     return;
@@ -139,7 +139,7 @@ void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr
   latest_external_msg_ = *msg;
 
   if (
-    (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds() >
+    std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds()) >
     perception_time_tolerance_) {
     latest_perception_msg_.traffic_light_groups.clear();
   }