Comments (4)
I understand it, thank for your reply, misunderstand it. you are right.
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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?
from hdl_localization.
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?
from hdl_localization.
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?
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