track_odometry: synchronize Odometry and IMU #363
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[#1000] PASSED on kineticAll tests passed[#1000] PASSED on melodicAll tests passed |
Codecov Report
@@ Coverage Diff @@
## master #363 +/- ##
==========================================
- Coverage 73.77% 73.64% -0.13%
==========================================
Files 56 56
Lines 4114 4128 +14
==========================================
+ Hits 3035 3040 +5
- Misses 1079 1088 +9
Continue to review full report at Codecov.
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[#1001] PASSED on kineticAll tests passed[#1001] PASSED on melodicAll tests passed |
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@DaikiMaekawa please take a look |
| @@ -79,10 +83,17 @@ geometry_msgs::Vector3 toVector3(const Eigen::Vector3f& a) | |||
| class TrackOdometryNode | |||
| { | |||
| private: | |||
| using SyncPolicy = | |||
| message_filters::sync_policies::ApproximateTime<nav_msgs::Odometry, sensor_msgs::Imu>; | |||
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Is the approximate synchronization OK for Odometry and IMU?
Interpolation would be the option as well.
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I agree that interpolation is better, but it requires additional implementation. (Is interpolation provided by message_filter?)
ApproximateTime is better than master branch, anyway.
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Is interpolation provided by message_filter?
No, I don't think so.
ApproximateTime is better than master branch, anyway.
Right. I'm OK to merge the PR if you want.
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@at-wat Can you open an Issue regarding to the interpolation?
DaikiMaekawa
approved these changes
Jul 31, 2019
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for #358