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Fix imu stamp bug in ros

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This commit is contained in:
Kalman 2018-10-24 17:13:25 +08:00
parent a9353c965a
commit 5c46c72883
2 changed files with 4 additions and 4 deletions
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3
tools/dataset/record.cc
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@ -99,8 +99,7 @@ int main(int argc, char *argv[]) {
return -1; return -1;
} }
cv::imshow("frame", img); cv::imshow("frame", img);
if (img_count > 10 && imu_count > 50) { // save
{ // save
for (auto &&left : left_datas) { for (auto &&left : left_datas) {
dataset.SaveStreamData(Stream::LEFT, left); dataset.SaveStreamData(Stream::LEFT, left);
} }

3
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
View File

@ -341,9 +341,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} else { } else {
NODELET_WARN_STREAM("Motion data is empty"); NODELET_WARN_STREAM("Motion data is empty");
} }
} } else {
publishImu(data, imu_count_, stamp); publishImu(data, imu_count_, stamp);
publishTemp(data.imu->temperature, imu_count_, stamp); publishTemp(data.imu->temperature, imu_count_, stamp);
}
NODELET_DEBUG_STREAM( NODELET_DEBUG_STREAM(
"Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp "Imu count: " << imu_count_ << ", timestamp: " << data.imu->timestamp
<< ", accel_x: " << data.imu->accel[0] << ", accel_x: " << data.imu->accel[0]