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Updated README with examples of usage of the MIT stata center dataset based on jfr2018 paper. #1350

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matlabbe
2025-09-18 04:43:24 +00:00
parent f601fd43bf
commit f9ad71a7af
12 changed files with 324 additions and 121 deletions
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rtabmap_odom/src/OdometryROS.cpp
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@@ -487,7 +487,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::Header & header
{
double estimatedPeriod = clockNow - lastReceivedTopicClock_;
double topicPeriod = header.stamp.toSec() - lastReceivedTopicStamp_;
if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.9) {
if(estimatedPeriod>0.0 && topicPeriod>0.0 && estimatedPeriod < topicPeriod*0.5) {
NODELET_WARN("Dropping image/scan data with stamp %f (delay=%f). Something is wrong "
"because the clock difference with the previous topic received (%fs) is much lower than the "
"expected one (%fs) estimated from the topic stamps (previous stamp=%f). If you are processing "