Added ability to reset IMU filters when ROS time jumps back #165
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Martin Pecka <[email protected]>
|
I'm not sure if ABI compatibility is an issue for this package or not. If it is, the PR will need a few changes to retain ABI compatibility. |
|
Beautiful, thank you! Breaking ABI should be okay for this package. |
sharminramli
added a commit
to enwaytech/imu_tools
that referenced
this pull request
Jul 9, 2024
sharminramli
added a commit
to enwaytech/imu_tools
that referenced
this pull request
Jul 9, 2024
sharminramli
added a commit
to enwaytech/imu_tools
that referenced
this pull request
Jul 9, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes #164. Currently, the PR only supports resetting on jumps back. Default behavior is the same as tf2_listener: Reset whenever
ros::Time::now()is lower than the previous recorded one. Parameter~time_jump_thresholdcan be used to specify that jumps smaller than the threshold do not result in resetting the filter (e.g. when running in real time and system clock jumps because of a time sync event). To disable the resetting behavior, set the threshold toDURATION_MAX.