search

HKUST-Aerial-Robotics / A-LOAM

Advanced implementation of LOAM
Other
2.05k stars 789 forks source link

transformUpdate and laserOdometryHandler are not synchronized #33

Closed Saki-Chen closed 3 years ago

Saki-Chen commented 4 years ago

located in file src/laserMapping.cpp

q_wmap_wodom and t_wmap_wodom are updated by function transformUpdate in the thread of process while they are read and sent by function laserOdometryHandler.

It is possible to send corrupted data.