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Fixed first imu of a batch used 2x internally

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matlabbe
2025-11-09 20:44:28 -08:00
parent f3cf0d20d0
commit e245b7751e
1 changed files with 2 additions and 3 deletions
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rtabmap_odom/src/OdometryROS.cpp
+2 -3
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@@ -571,9 +571,8 @@ void OdometryROS::processData()
for(std::map<double, sensor_msgs::msg::Imu::ConstSharedPtr>::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 <= rtabmap_conversions::timestampFromROS(header.stamp)) {
// one when processing again the buffer
if(iter!=iterFirst) {
imus.push_back(*iter);
}
if(iter!=iterLast) {