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Ensure we validate what we CHECK(...) () 

In cartographer we check for strict ordering, i.e. do not allow
subsequent timestamps to be exactly equal. This fixes the rosbag validation tool
to do the same.
master
Sebastian Klose 2018-06-13 12:47:00 +02:00 committed by Wally B. Feed
parent 82b5eb9688
commit 4f32f88717
1 changed files with 5 additions and 5 deletions
cartographer_ros/cartographer_ros

10
cartographer_ros/cartographer_ros/rosbag_validate_main.cc
View File

@ -311,13 +311,13 @@ void Run(const std::string& bag_filename, const bool dump_timing) {
auto& entry = frame_id_to_properties.at(frame_id);
if (!first_packet) {
const double delta_t_sec = (time - entry.last_timestamp).toSec();
if (delta_t_sec < 0) {
if (delta_t_sec <= 0) {
LOG_FIRST_N(ERROR, 3)
<< "Sensor with frame_id \"" << frame_id
<< "\" jumps backwards in time. Make sure that the bag "
"contains the data for each frame_id sorted by "
"header.stamp, i.e. the order in which they were "
"acquired from the sensor.";
<< "\" jumps backwards in time, i.e. timestamps are not strictly "
"increasing. Make sure that the bag contains the data for each "
"frame_id sorted by header.stamp, i.e. the order in which they "
"were acquired from the sensor.";
}
entry.time_deltas.push_back(delta_t_sec);
}