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MapIV / eagleye

Precise localization based on GNSS and IMU.
BSD 3-Clause "New" or "Revised" License
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Fix time in gnss_velocity_callback(ros2) #282

Closed rsasaki0109 closed 1 year ago

rsasaki0109 commented 1 year ago

There was a bug in the conversion when the GNSS velocity type was TwistWithCovarianceStamped type.

velocity_source_type:(geometry_msgs/TwistWithCovarianceStamped: 3) 50hz

[gnss_converter-24] gnss_velocity_time: 1654259395064.906
[gnss_converter-24] gnss_velocity_time: 1654259395086.117
[gnss_converter-24] gnss_velocity_time: 1654259395106.497
[gnss_converter-24] gnss_velocity_time: 1654259395126.404
[gnss_converter-24] gnss_velocity_time: 1654259395145.452
[gnss_converter-24] gnss_velocity_time: 1654259395165.582

The following is correct for TOW. 5hz


ros2 topic echo /rtklib_nav | grep tow
tow: 341740600
tow: 341740800
tow: 341741000
tow: 341741200
tow: 341741400
tow: 341741600