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Odom diagnostic: set max_update_rate as target frequency to catch when actual processing time is too slow (e.g., current rate is smaller than max rate)

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matlabbe
2024-02-08 13:20:53 -08:00
parent 7845e53095
commit 337c494f90
1 changed files with 1 additions and 1 deletions
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rtabmap_odom/src/OdometryROS.cpp
+1 -1
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@@ -1043,7 +1043,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
{
double curentRate = 1.0/(ros::WallTime::now()-time).toSec();
syncDiagnostic_->tick(header.stamp,
maxUpdateRate_>0 && maxUpdateRate_ < curentRate ? maxUpdateRate_:
maxUpdateRate_>0 ? maxUpdateRate_:
expectedUpdateRate_>0 && expectedUpdateRate_ < curentRate ? expectedUpdateRate_:
previousStamp_ == 0.0 || header.stamp.toSec() - previousStamp_ > 1.0/curentRate?0:curentRate);
}