Reduce the publish rate of imu tf transforms (#134)

ouster-lidar · May 12, 2023 · 3f01e1d · 3f01e1d
1 parent 3c2b6a1
commit 3f01e1d
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -21,6 +21,7 @@ ouster_ros(1)
   save it to the bag file on record
 * make specifying metadata file optional during record and replay modes as of package version 8.1
 * added a no-bond option to the ``sensor.launch`` file
+* reduce the publish rate of imu tf transforms
 
 ouster_ros(2)
 -------------

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ouster_ros</name>
-  <version>0.8.2</version>
+  <version>0.8.3</version>
   <description>Ouster ROS driver</description>
   <maintainer email="[email protected]">ouster developers</maintainer>
   <license file="LICENSE">BSD</license>

diff --git a/src/os_cloud_nodelet.cpp b/src/os_cloud_nodelet.cpp
@@ -197,6 +197,9 @@ class OusterCloud : public nodelet::Nodelet {
 
         tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
             info.lidar_to_sensor_transform, sensor_frame, lidar_frame, msg_ts));
+
+        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
+            info.imu_to_sensor_transform, sensor_frame, imu_frame, msg_ts));
     }
 
     uint64_t impute_value(int last_scan_last_nonzero_idx,
@@ -312,9 +315,6 @@ class OusterCloud : public nodelet::Nodelet {
         sensor_msgs::ImuPtr imu_msg_ptr =
             boost::make_shared<sensor_msgs::Imu>(imu_msg);
         imu_pub.publish(imu_msg_ptr);
-
-        tf_bcast.sendTransform(ouster_ros::transform_to_tf_msg(
-            info.imu_to_sensor_transform, sensor_frame, imu_frame, msg_ts));
     };
 
     inline ros::Time to_ros_time(uint64_t ts) {