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Fix a bug of time_sync_en.

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Fangcheng Zhu 2022-12-17 19:15:43 +08:00 committed by GitHub
parent a56a0c544a
commit d304b89533
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1 changed files with 1 additions and 2 deletions
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src/laserMapping.cpp
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@ -338,14 +338,13 @@ void imu_cbk(const sensor_msgs::Imu::ConstPtr &msg_in)
// cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl; // cout<<"IMU got at: "<<msg_in->header.stamp.toSec()<<endl;
sensor_msgs::Imu::Ptr msg(new sensor_msgs::Imu(*msg_in)); 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) if (abs(timediff_lidar_wrt_imu) > 0.1 && time_sync_en)
{ {
msg->header.stamp = \ msg->header.stamp = \
ros::Time().fromSec(timediff_lidar_wrt_imu + msg_in->header.stamp.toSec()); 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(); double timestamp = msg->header.stamp.toSec();
mtx_buffer.lock(); mtx_buffer.lock();