From d304b8953339aedbf67f75dca0f41025ead2a4d7 Mon Sep 17 00:00:00 2001
From: Fangcheng Zhu <50921331+zfc-zfc@users.noreply.github.com>
Date: Sat, 17 Dec 2022 19:15:43 +0800
Subject: [PATCH] Fix a bug of time_sync_en.

---
 src/laserMapping.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index 15935fb..44bc280 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -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();