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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.

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matlabbe
2021-03-24 17:40:54 -04:00
parent 6e34cde8e6
commit e75d035d99
5 changed files with 42 additions and 24 deletions
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src/CoreWrapper.cpp
+2 -1
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@@ -1909,7 +1909,7 @@ void CoreWrapper::process(
std::vector<float> odomVelocity;
if(iter->second.timeEstimation != 0.0f)
{
OdometryInfo info = odomInfoFromROS(iter->second);
OdometryInfo info = odomInfoFromROS(iter->second, true);
externalStats = rtabmap_ros::odomInfoToStatistics(info);
if(info.interval>0.0)
@@ -2098,6 +2098,7 @@ void CoreWrapper::process(
rtabmapROSStats_.clear();
}
timeMsgConversion += timer.ticks();
if(rtabmap_.process(data, odom, covariance, odomVelocity, externalStats))
{
timeRtabmap = timer.ticks();