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Fixed timestamp conversion. Srv: changed "global" member to "global_map" (python reserved word). CoreWrapper: fixed imu subscription.

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matlabbe
2021-10-05 13:53:13 -04:00
parent 801fcade72
commit fb1200c8f1
11 changed files with 24 additions and 22 deletions
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src/OdometryROS.cpp
+3 -2
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@@ -398,6 +398,7 @@ void OdometryROS::callbackIMU(const sensor_msgs::msg::Imu::SharedPtr msg)
localTransform);
imus_.insert(std::make_pair(stamp, imu));
//RCLCPP_WARN(get_logger(), "Received imu: %f", stamp);
if(bufferedData_.first.isValid() && stamp > bufferedData_.first.stamp())
{
@@ -423,7 +424,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
if(waitIMUToinit_ && (imus_.empty() || imus_.rbegin()->first < timestampFromROS(header.stamp)))
{
//NODELET_WARN("No imu received with higher stamp than last image (%f)! Buffering this image until we get more imu msgs...", stamp.toSec());
//RCLCPP_WARN(get_logger(), "No imu received with higher stamp than last image (%f)! Buffering this image until we get more imu msgs...", timestampFromROS(header.stamp));
// keep in cache to process later when we will receive imu msgs
if(bufferedData_.first.isValid())
@@ -452,7 +453,7 @@ void OdometryROS::processData(SensorData & data, const std_msgs::msg::Header & h
imuProcessed_ = true;
}
//NODELET_WARN("img callback: process image %f", stamp.toSec());
//RCLCPP_WARN(get_logger(), "img callback: process image %f", timestampFromROS(header.stamp));
Transform groundTruth;
if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())