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DbPlayer: fixed tf delay when rate=-1

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matlabbe
2015-09-04 16:43:18 -04:00
parent 2abf28d424
commit 8506ba9ca8
1 changed files with 4 additions and 1 deletions
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src/DbPlayerNode.cpp
+4 -1
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@@ -136,7 +136,9 @@ int main(int argc, char** argv)
ros::Publisher scanPub; ros::Publisher scanPub;
tf2_ros::TransformBroadcaster tfBroadcaster; tf2_ros::TransformBroadcaster tfBroadcaster;
UTimer timer;
rtabmap::OdometryEvent odom = reader.getNextData(); rtabmap::OdometryEvent odom = reader.getNextData();
double acquisitionTime = timer.ticks();
while(ros::ok() && odom.data().id()) while(ros::ok() && odom.data().id())
{ {
ROS_INFO("Reading sensor data %d...", odom.data().id()); ROS_INFO("Reading sensor data %d...", odom.data().id());
@@ -238,7 +240,7 @@ int main(int argc, char** argv)
// publish transforms first // publish transforms first
if(publishTf) if(publishTf)
{ {
ros::Time tfExpiration = time + ros::Duration(1.0/rate); ros::Time tfExpiration = time + ros::Duration(rate>0?1.0/rate:acquisitionTime);
rtabmap::Transform localTransform; rtabmap::Transform localTransform;
if(odom.data().cameraModels().size() == 1) if(odom.data().cameraModels().size() == 1)
@@ -391,6 +393,7 @@ int main(int argc, char** argv)
} }
odom = reader.getNextData(); odom = reader.getNextData();
acquisitionTime = timer.ticks();
} }