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fix(ros): fix imu count bug

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This commit is contained in:
kalman 2019-01-15 21:20:23 +08:00
parent 988a158489
commit 48509547a2
1 changed files with 14 additions and 8 deletions
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6
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -72,6 +72,11 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
<< (right_count_ / compute_time(time_end, right_time_beg_)); << (right_count_ / compute_time(time_end, right_time_beg_));
} }
if (imu_time_beg_ != -1) { if (imu_time_beg_ != -1) {
if (model_ == Model::STANDARD) {
LOG(INFO) << "Imu count: " << imu_count_ << ", hz: "
<< (imu_count_ /
compute_time(time_end, imu_time_beg_));
} else {
if (publish_imu_by_sync_) { if (publish_imu_by_sync_) {
LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: " LOG(INFO) << "imu_sync_count: " << imu_sync_count_ << ", hz: "
<< (imu_sync_count_ / << (imu_sync_count_ /
@ -82,6 +87,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
compute_time(time_end, imu_time_beg_)); compute_time(time_end, imu_time_beg_));
} }
} }
}
// ROS messages could not be reliably printed here, using glog instead :( // ROS messages could not be reliably printed here, using glog instead :(
// ros::Duration(1).sleep(); // 1s // ros::Duration(1).sleep(); // 1s