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Ensure we validate what we CHECK(...) (#897) 

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
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10
cartographer_ros/cartographer_ros/rosbag_validate_main.cc
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@ -311,13 +311,13 @@ void Run(const std::string& bag_filename, const bool dump_timing) {
auto& entry = frame_id_to_properties.at(frame_id); auto& entry = frame_id_to_properties.at(frame_id);
if (!first_packet) { if (!first_packet) {
const double delta_t_sec = (time - entry.last_timestamp).toSec(); 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) LOG_FIRST_N(ERROR, 3)
<< "Sensor with frame_id \"" << frame_id << "Sensor with frame_id \"" << frame_id
<< "\" jumps backwards in time. Make sure that the bag " << "\" jumps backwards in time, i.e. timestamps are not strictly "
"contains the data for each frame_id sorted by " "increasing. Make sure that the bag contains the data for each "
"header.stamp, i.e. the order in which they were " "frame_id sorted by header.stamp, i.e. the order in which they "
"acquired from the sensor."; "were acquired from the sensor.";
} }
entry.time_deltas.push_back(delta_t_sec); entry.time_deltas.push_back(delta_t_sec);
} }