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Update rgbd_odometry.cpp

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To make default freenect example not spamming sync warnings
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matlabbe
2022-11-20 19:42:35 -08:00
committed by GitHub
parent 5cfacebbb8
commit ed248b4dbd
1 changed files with 2 additions and 2 deletions
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src/nodelets/rgbd_odometry.cpp
+2 -2
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@@ -503,11 +503,11 @@ void RGBDOdometry::callback(
infoMsgs.push_back(*cameraInfo); infoMsgs.push_back(*cameraInfo);
double stampDiff = fabs(timestampFromROS(image->header.stamp) - timestampFromROS(depth->header.stamp)); double stampDiff = fabs(timestampFromROS(image->header.stamp) - timestampFromROS(depth->header.stamp));
if(stampDiff > 0.010) if(stampDiff > 0.020)
{ {
RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is " RCLCPP_WARN(this->get_logger(), "The time difference between rgb and depth frames is "
"high (diff=%fs, rgb=%fs, depth=%fs). You may want " "high (diff=%fs, rgb=%fs, depth=%fs). You may want "
"to set approx_sync_max_interval lower than 0.01s to reject spurious bad synchronizations or use " "to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use "
"approx_sync=false if streams have all the exact same timestamp.", "approx_sync=false if streams have all the exact same timestamp.",
stampDiff, stampDiff,
timestampFromROS(image->header.stamp), timestampFromROS(image->header.stamp),