Closed Freeskylover closed 4 years ago
Hi @Freeskylover , It looks the code is fine, and I couldn't find what is the problem you are pointing out. Could you explain in details?
the imu information timestamp(control_vector) is the same(maybe behind) with the observation timestamp in your code. why not is that the imu information timestamp is before the observation timestamp?
In this code, we give the predict function the timestamp of the IMU data (control vector) but not the point cloud (observation) timestamp, and "if(stamp < (*imu_iter)->header.stamp)" prevents feeding IMU data after the current observation timestamp. So, only IMU data before the observation timestamp are used to predict the UKF state. Is it clear to you?
I understand it, thank for your reply, misunderstand it. you are right.
why using the imu_iter on the stamp with observation not the pre_stamp