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Fixed imus ignored (bug previous commit)

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matlabbe
2025-09-07 20:06:13 -07:00
parent 0ad034680b
commit f64fb02eab
1 changed files with 3 additions and 2 deletions
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rtabmap_odom/src/OdometryROS.cpp
+3 -2
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@@ -564,10 +564,11 @@ void OdometryROS::processData()
{ {
++iterEnd; ++iterEnd;
} }
for(std::map<double, sensor_msgs::msg::Imu::ConstSharedPtr>::iterator iter=imus_.begin(); iter!=iterEnd;) std::map<double, sensor_msgs::msg::Imu::ConstSharedPtr>::iterator iterFirst = imus_.begin();
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. // Because we always keep the last processed imu in the buffer, skip the first one when processing again the buffer.
if(iter!=imus_.begin()) { if(iter!=iterFirst) {
imus.push_back(*iter); imus.push_back(*iter);
} }
if(iter!=iterLast) { if(iter!=iterLast) {