From f38c4befc81d9d41ff936af9500b6d2bf3b1f9b0 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Tue, 14 Apr 2026 10:50:48 +0800
Subject: [PATCH] 0414-6

---
 src/autonomy/fu/src/fu_node.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index 8ecfb2c..e223260 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -289,6 +289,12 @@ class fu_node : public rclcpp::Node
         vehicle_max_y_ = -1;
         node_clock_ = this->get_clock();
 
+        // 初始化栅格时间戳（使用 node_clock_ 确保时钟源一致）
+        {
+            std::lock_guard<std::mutex> lock(grid_mutex_);
+            last_grid_time_ = node_clock_->now();
+        }
+
         front_stop_zone_ = {0, 0, 0, 0};
         rear_stop_zone_ = {0, 0, 0, 0};
         left_stop_zone_ = {0, 0, 0, 0};