From dacb572019e010bc1bb16bd9e4b31848efdb4eca Mon Sep 17 00:00:00 2001
From: eitan <devnull@localhost>
Date: Wed, 1 Dec 2010 19:02:17 +0000
Subject: [PATCH] Fixing bug with timestamps when there are only fixed joints

---
 robot_state_publisher/src/joint_state_listener.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp
index e7b2eee..84f4875 100644
--- a/robot_state_publisher/src/joint_state_listener.cpp
+++ b/robot_state_publisher/src/joint_state_listener.cpp
@@ -57,8 +57,8 @@ JointStateListener::JointStateListener(const KDL::Tree& tree)
   
   if (tree.getNrOfJoints() == 0){
     boost::shared_ptr<sensor_msgs::JointState> empty_state(new sensor_msgs::JointState);
-    empty_state->header.stamp = ros::Time::now();
     while (ros::ok()){
+      empty_state->header.stamp = ros::Time::now();
       this->callbackJointState(empty_state);
       publish_rate_.sleep();
     }