i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Stale inputs detection (#1358)

Browse Source 
* Added stale_update_detection parameter to detect if upstream is stale for too long, trigger new map

* On too small guess motion, still publish odom topic along tf

* Added parameters when guess odom topic is sent

* fixed stale disabled logic

* Added info when odometry update is skipped.

* Making vo publishing the expected output data even if odometry update was skip by not enough motion

* fixed skipping odom

* refactored tooOldPreviousData to work with guess

* renamed stale_update_detection to staleness_factor

* cleanup

* reverting a change

---------

Co-authored-by: mathieu86 <[email protected]>
This commit is contained in:
matlabbe
2025-09-23 14:10:57 -07:00
committed by GitHub
co-authored by mathieu86
parent 7d4de30ec7
commit 46f4443baa
4 changed files with 132 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_slam/include/rtabmap_slam/CoreWrapper.h
+1
View File
@@ -278,6 +278,7 @@ private:
double landmarkDefaultLinVariance_;
bool waitForTransform_;
double waitForTransformDuration_;
double stalenessFactor_;
bool useActionForGoal_;
bool useSavedMap_;
bool genScan_;