def get_msg_header(self):
        """
        Get a filled ROS message header
        :return: ROS message header
        :rtype: std_msgs.msg.Header
        """
        header = Header()
        header.frame_id = "map"
        t = self.get_clock().now()
        t = t.seconds_nanoseconds()
        time = Time()
        time.sec = t[0]
        time.nanosec = t[1]
        header.stamp = time
        return header

        Get a filled ROS message header
        :return: ROS message header
        :rtype: std_msgs.msg.Header
        
bridges/ros_bridge/src/metadrive_example_bridge/metadrive_example_bridge/lidar_bridge.py