mirrors/FAST_LIO
1
0
Fork 0
mirror of https://github.com/hku-mars/FAST_LIO.git synced 2023-04-06 16:28:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix a bug of time_sync_en.

Browse Source
This commit is contained in:
Fangcheng Zhu
2022-12-17 19:15:43 +08:00
committed by GitHub
parent a56a0c544a
commit d304b89533
1 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/laserMapping.cpp
View File

@@ -338,14 +338,13 @@ void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
// cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl;
sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in));
msg->header.stamp = ros::Time().fromSec(msg_in->header.stamp.toSec() - time_diff_lidar_to_imu);
if (abs(timediff_lidar_wrt_imu) > 0.1 && time_sync_en)
{
msg->header.stamp = \
ros::Time().fromSec(timediff_lidar_wrt_imu + msg_in->header.stamp.toSec());
}
msg->header.stamp = ros::Time().fromSec(msg_in->header.stamp.toSec() - time_diff_lidar_to_imu);
double timestamp = msg->header.stamp.toSec();
mtx_buffer.lock();