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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2025-09-21 13:44:51 -07:00
parent 491a04b78b 7d4de30ec7
commit c19240884e
8 changed files with 75 additions and 59 deletions
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rtabmap_odom/src/OdometryROS.cpp
+1 -1
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@@ -489,7 +489,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
{
double estimatedPeriod = clockNow - lastReceivedTopicClock_;
double topicPeriod = rtabmap_conversions::timestampFromROS(header.stamp) - lastReceivedTopicStamp_;
if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.9) {
if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.5) {
RCLCPP_WARN(get_logger(),
"Dropping image/scan data with stamp %f (delay=%f). Something is wrong "
"because the clock difference with the previous topic received (%fs) is much lower than the "