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Add better logging for missing IMU data. (#311)

master
Holger Rapp 2017-04-24 11:40:26 +02:00 committed by GitHub
parent 23798c9ef8
commit a44527ea7c
1 changed files with 11 additions and 2 deletions
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13
cartographer_ros/cartographer_ros/sensor_bridge.cc
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@ -58,8 +58,17 @@ void SensorBridge::HandleOdometryMessage(
void SensorBridge::HandleImuMessage(const string& sensor_id, void SensorBridge::HandleImuMessage(const string& sensor_id,
const sensor_msgs::Imu::ConstPtr& msg) { const sensor_msgs::Imu::ConstPtr& msg) {
CHECK_NE(msg->linear_acceleration_covariance[0], -1); CHECK_NE(msg->linear_acceleration_covariance[0], -1)
CHECK_NE(msg->angular_velocity_covariance[0], -1); << "Your IMU data claims to not contain linear acceleration measurements "
"by setting linear_acceleration_covariance[0] to -1. Cartographer "
"requires this data to work. See "
"http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html.";
CHECK_NE(msg->angular_velocity_covariance[0], -1)
<< "Your IMU data claims to not contain angular velocity measurements "
"by setting angular_velocity_covariance[0] to -1. Cartographer "
"requires this data to work. See "
"http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html.";
const carto::common::Time time = FromRos(msg->header.stamp); const carto::common::Time time = FromRos(msg->header.stamp);
const auto sensor_to_tracking = tf_bridge_.LookupToTracking( const auto sensor_to_tracking = tf_bridge_.LookupToTracking(
time, CheckNoLeadingSlash(msg->header.frame_id)); time, CheckNoLeadingSlash(msg->header.frame_id));