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Odom: subscribe imu if MSCKF and Okvis type is selected

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matlabbe
2019-02-21 15:16:07 -05:00
parent 888cd22072
commit 05de922992
1 changed files with 1 additions and 1 deletions
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src/OdometryROS.cpp
+1 -1
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@@ -343,7 +343,7 @@ void OdometryROS::onInit()
odomStrategy_ = 0; odomStrategy_ = 0;
Parameters::parse(this->parameters(), Parameters::kOdomStrategy(), odomStrategy_); Parameters::parse(this->parameters(), Parameters::kOdomStrategy(), odomStrategy_);
if(waitIMUToinit_ || odomStrategy_ == Odometry::kTypeF2F || odomStrategy_ == Odometry::kTypeF2F) if(waitIMUToinit_ || odomStrategy_ == Odometry::kTypeMSCKF || odomStrategy_ == Odometry::kTypeOkvis)
{ {
int queueSize = 10; int queueSize = 10;
pnh.param("queue_size", queueSize, queueSize); pnh.param("queue_size", queueSize, queueSize);