Added odom_info_lite topic (same as odom_info but without data). Optimized intermediate nodes processing time by avoiding converting all data in odom_info message.

2026-10-07 10:17:45 +08:00 · 2021-03-24 17:40:54 -04:00
parent 6e34cde8e6
commit e75d035d99
5 changed files with 42 additions and 24 deletions
@@ -113,6 +113,7 @@ private:

 	ros::Publisher odomPub_;
 	ros::Publisher odomInfoPub_;
+	ros::Publisher odomInfoLitePub_;
 	ros::Publisher odomLocalMap_;
 	ros::Publisher odomLocalScanMap_;
 	ros::Publisher odomLastFrame_;