Added IMU support for camera images source with odom approach not supporting async imu

2026-10-06 18:17:47 +08:00 · 2023-04-16 17:32:32 -07:00
parent b91addb261
commit e300d4c5c1
6 changed files with 111 additions and 38 deletions
@@ -324,6 +324,10 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 				imus_.erase(imus_.begin());
 			}
 		}
+		else
+		{
+			UWARN("Received IMU doesn't have orientation set! It is ignored.");
+		}
 	}