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cherry picked https://github.com/introlab/rtabmap_ros/commit/e245b7751edf3f1c3b74578527c707b5aa3e630c for ros1 port

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matlabbe
2025-11-10 04:48:44 +00:00
parent 4b0067d875
commit 515eb50d83
1 changed files with 2 additions and 3 deletions
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rtabmap_odom/src/OdometryROS.cpp
+2 -3
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@@ -567,9 +567,8 @@ void OdometryROS::processData()
for(std::map<double, rtabmap::IMU>::iterator iter=iterFirst; iter!=iterEnd;)
{
// Because we always keep the last processed imu in the buffer, skip the first
// one when processing again the buffer unless its time is lower/equal to image
// current stamp (could happen on initialization).
if(iter!=iterFirst || iter->first <= header.stamp.toSec()) {
// one when processing again the buffer
if(iter!=iterFirst) {
imus.push_back(*iter);
}
if(iter!=iterLast) {