From 0ebc8e6348445c102d2259e740806d65344b16bc Mon Sep 17 00:00:00 2001
From: zoujialong9012 <76974464@qq.com>
Date: Wed, 11 Apr 2018 00:26:50 +0800
Subject: [PATCH] Update camera_process_subnode.cc (#3785)

* Update camera_process_subnode.cc rosbag play -l   onetimes skip frame .
---
 modules/perception/obstacle/onboard/camera_process_subnode.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/perception/obstacle/onboard/camera_process_subnode.cc b/modules/perception/obstacle/onboard/camera_process_subnode.cc
index d767dd8393..b354492ab4 100644
--- a/modules/perception/obstacle/onboard/camera_process_subnode.cc
+++ b/modules/perception/obstacle/onboard/camera_process_subnode.cc
@@ -97,7 +97,8 @@ void CameraProcessSubnode::ImgCallback(const sensor_msgs::Image &message) {
   double curr_timestamp = timestamp * 1e9;
 
   if (FLAGS_skip_camera_frame && timestamp_ns_ > 0.0) {
-    if ((curr_timestamp - timestamp_ns_) < (1e9 / FLAGS_camera_hz)) {
+    if ((curr_timestamp - timestamp_ns_) < (1e9 / FLAGS_camera_hz) &&
+       curr_timestamp > timestamp_ns_) {
       ADEBUG << "CameraProcessSubnode Skip frame";
       return;
     }
-- 
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