From 53a1f6c2f7e3b663e4c10736eb52f3ada6f88605 Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Thu, 3 Jan 2019 10:03:48 +0100
Subject: [PATCH] Small fixes for PoseExtrapolator::UpdateVelocitiesFromPoses()
 (#1492)

- use `pose_queue_duration_` instead of hardcoded "0.001"
  (cartographer_ros sets this to 0.001, probably that's why this
  wasn't noticed)
- queue_delta is in seconds, log message said milliseconds
---
 cartographer/mapping/pose_extrapolator.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cartographer/mapping/pose_extrapolator.cc b/cartographer/mapping/pose_extrapolator.cc
index 64aeda7..d02fd5b 100644
--- a/cartographer/mapping/pose_extrapolator.cc
+++ b/cartographer/mapping/pose_extrapolator.cc
@@ -164,9 +164,9 @@ void PoseExtrapolator::UpdateVelocitiesFromPoses() {
   const TimedPose& oldest_timed_pose = timed_pose_queue_.front();
   const auto oldest_time = oldest_timed_pose.time;
   const double queue_delta = common::ToSeconds(newest_time - oldest_time);
-  if (queue_delta < 0.001) {  // 1 ms
+  if (queue_delta < common::ToSeconds(pose_queue_duration_)) {
     LOG(WARNING) << "Queue too short for velocity estimation. Queue duration: "
-                 << queue_delta << " ms";
+                 << queue_delta << " s";
     return;
   }
   const transform::Rigid3d& newest_pose = newest_timed_pose.pose;