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using latest stamp between input image topics for visual odometry (so less " Lookup would require extrapolation into the future." warnings show up)

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matlabbe
2015-07-17 17:29:10 -04:00
parent eddf7a757d
commit 135bdb1954
4 changed files with 39 additions and 23 deletions
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src/OdometryROS.h
+1 -1
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@@ -53,7 +53,7 @@ public:
~OdometryROS();
void processArguments(int argc, char * argv[]);
void processData(const rtabmap::SensorData & data, const std_msgs::Header & header);
void processData(const rtabmap::SensorData & data, const ros::Time & stamp);
bool reset(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);