Updated for rtabmap 0.20.5. OdometryROS: Fixed odometry stamps slightly off when subscribing to IMU (causing exact sync problems on rtabmap/rtambapviz side).

2026-10-07 18:27:46 +08:00 · 2020-10-12 21:20:32 -04:00
parent 10ed0109b8
commit c23dbbc249
6 changed files with 88 additions and 87 deletions
@@ -142,7 +142,7 @@ private:
 	bool waitIMUToinit_;
 	bool imuProcessed_;
 	std::map<double, rtabmap::IMU> imus_;
-	rtabmap::SensorData bufferedData_;
+	std::pair<rtabmap::SensorData, ros::Time> bufferedData_;
 };

 }