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Added sync diagnostic (#1026)

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* Added sync diagnotic

* Removed composite task to avoid empty msg, added odom status task
This commit is contained in:
matlabbe
2023-08-27 12:30:53 -07:00
committed by GitHub
parent cd52f7664c
commit 4a3863cdc7
28 changed files with 264 additions and 285 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+6
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@@ -2245,6 +2245,12 @@ void CoreWrapper::process(
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimeUpdatingMaps/ms"), timeUpdateMaps*1000.0f));
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimePublishing/ms"), timePublishMaps*1000.0f));
rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/TimeTotal/ms"), (timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps)*1000.0f));
// If not intermediate node
if(data.id() > 0)
{
tick(stamp, rate_>0?rate_:1000.0/(timeMsgConversion+timeRtabmap+timeUpdateMaps+timePublishMaps));
}
}
else if(!rtabmap_.isIDsGenerated())
{