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The best possible situation 19.4.2021

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This commit is contained in:
gfuse
2021-04-19 19:49:17 +02:00
parent 121cfe1095
commit 661acff27f
7 changed files with 102 additions and 108 deletions
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vio_svo/src/vo_node.cpp
+2 -3
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@@ -108,14 +108,13 @@ void VoNode::imgCb(const sensor_msgs::ImageConstPtr& msg)
}
}
void VoNode::imuCb(const sensor_msgs::ImuPtr &imu) {
double imu_in[7];
double imu_in[6];
imu_in[0] = imu->linear_acceleration.x;
imu_in[1] = imu->linear_acceleration.y;
imu_in[2] = imu->linear_acceleration.z;
imu_in[3] = imu->angular_velocity.x;
imu_in[4] = imu->angular_velocity.y;
imu_in[5] = imu->angular_velocity.z;
imu_in[6] = imu->header.stamp.toNSec();
vo_->imu_integPtr_->update(imu_in);
}
void VoNode::imu(){
@@ -123,7 +122,7 @@ void VoNode::imu(){
std::cout << "create vo_node" << std::endl;
// subscribe to cam msgs
image_transport::ImageTransport it(nh);
image_transport::Subscriber it_sub = it.subscribe(vk::getParam<std::string>("vio/cam_topic", "camera/image_raw"), 5, &svo::VoNode::imgCb, this);
image_transport::Subscriber it_sub = it.subscribe(vk::getParam<std::string>("vio/cam_topic", "camera/image_raw"), 1, &svo::VoNode::imgCb, this);
// start processing callbacks
while(ros::ok() && !quit_)
{