announce odometry only when publishing

Author: schmidma

crates/nodes/odometry/src/lib.rs

@@ -46,7 +46,6 @@ async fn run(ctx: Arc<Context>) -> Result<()> {
         let parameters = parameters.snapshot().typed().clone();
         let imu_state = imu_state_sub.recv_with_metadata().await?;
         let imu_time = imu_state.source_time;
-        let odometry_pub = odometry_pub.announce(imu_time).await?;
         let maybe_robot_kinematics_wrapper = robot_kinematics_cache.get_nearest(imu_time);
         let maybe_fall_down_state = fall_down_state_cache.get_nearest(imu_time);
         let imu_state = imu_state.into_message();
@@ -62,7 +61,11 @@ async fn run(ctx: Arc<Context>) -> Result<()> {
             },
             &parameters,
         ) {
-            odometry_pub.publish(&pose).await?;
+            odometry_pub
+                .announce(imu_time)
+                .await?
+                .publish(&pose)
+                .await?;
         }
     }
 }