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Merge branch 'master' of github.com:introlab/rtabmap_ros into fixing_sync_and_delays

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matlabbe
2024-12-01 15:04:29 -08:00
parent 723ac7cdba e5667b280a
commit 3a782a7e0f
1 changed files with 19 additions and 0 deletions
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rtabmap_conversions/src/MsgConversion.cpp
+19
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@@ -3058,6 +3058,25 @@ bool deskew_impl(
}
}
if(secFirst > 1.e18)
{
// convert nanoseconds to seconds
secFirst /= 1.e9;
secLast /= 1.e9;
}
else if(secFirst > 1.e15)
{
// convert microseconds to seconds
secFirst /= 1.e6;
secLast /= 1.e6;
}
else if(secFirst > 1.e12)
{
// convert milliseconds to seconds
secFirst /= 1.e3;
secLast /= 1.e3;
}
firstStamp = timestampToROS(secFirst);
lastStamp = timestampToROS(secLast);
}