From 5c46c7288368d551e2e2c7c6b47cf28caf6726d9 Mon Sep 17 00:00:00 2001
From: Kalman <kalmanxiong@slightech.com>
Date: Wed, 24 Oct 2018 17:13:25 +0800
Subject: [PATCH] Fix imu stamp bug in ros

---
 tools/dataset/record.cc                                      | 3 +--
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 5 +++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index 1f699b9..45df013 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -99,8 +99,7 @@ int main(int argc, char *argv[]) {
       return -1;
     }
     cv::imshow("frame", img);
-
-    {  // save
+    if (img_count > 10 && imu_count > 50) {  // save
       for (auto &&left : left_datas) {
         dataset.SaveStreamData(Stream::LEFT, left);
       }
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 8b42ebc..80b941f 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -341,9 +341,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
         } else {
           NODELET_WARN_STREAM("Motion data is empty");
         }
+      } else {
+        publishImu(data, imu_count_, stamp);
+        publishTemp(data.imu->temperature, imu_count_, stamp);
       }
-      publishImu(data, imu_count_, stamp);
-      publishTemp(data.imu->temperature, imu_count_, stamp);
       NODELET_DEBUG_STREAM(
           "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
                         << ", accel_x: " << data.imu->accel[0]