Closed ManChrys closed 10 months ago
hello if i want to convert degrees to rad/s should i add these lines here? its the correct place? should i convert the velocities before pushing the message to the buffer right ? i saw issue #43, but i would like this clarification .
//IMU Time Compensation msg->header.stamp = ros::Time().fromSec(msg->header.stamp.toSec() - timediff_imu_wrt_lidar - time_lag_IMU_wtr_lidar); double timestamp = msg->header.stamp.toSec(); if (timestamp < last_timestamp_imu) { ROS_WARN("IMU loop back, clear IMU buffer."); imu_buffer.clear(); Init_LI->IMU_buffer_clear(); } last_timestamp_imu = timestamp; msg->angular_velocity.x /= (180/PI_M); msg->angular_velocity.y /= (180/PI_M); msg->angular_velocity.z /= (180/PI_M); imu_buffer.push_back(msg); Thanks in advance.
Correct.
Thank you my friend.
hello if i want to convert degrees to rad/s should i add these lines here? its the correct place? should i convert the velocities before pushing the message to the buffer right ? i saw issue #43, but i would like this clarification .