merged master->ros2 (0.21.4)

rtabmap_odom/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rtabmap_odom</name>
-  <version>0.21.3</version>
+  <version>0.21.4</version>
   <description>RTAB-Map's odometry package.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>

rtabmap_odom/src/OdometryROS.cpp

@@ -1036,7 +1036,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
 		{
 			double curentRate = 1.0/(this->now()-timeStart).seconds();
 			syncDiagnostic_->tick(header.stamp,
-				maxUpdateRate_>0 && maxUpdateRate_ < curentRate ? maxUpdateRate_:
+				maxUpdateRate_>0 ? maxUpdateRate_:
 				expectedUpdateRate_>0 && expectedUpdateRate_ < curentRate ? expectedUpdateRate_:
 				previousStamp_ == 0.0 || rtabmap_conversions::timestampFromROS(header.stamp) - previousStamp_ > 1.0/curentRate?0:curentRate);
 		}