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fixed timedelay for publishing structure when bigger time delays than queue allows for

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This commit is contained in:
Raphael Maenle
2019-06-27 17:54:16 +02:00
parent af1820a238
commit bfb2a551a7
3 changed files with 19 additions and 12 deletions
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15
src/msckf_vio.cpp
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@ -405,12 +405,19 @@ void MsckfVio::imageCallback(
const sensor_msgs::ImageConstPtr& cam1_img,
const CameraMeasurementConstPtr& feature_msg)
{
// Return if the gravity vector has not been set.
if (!is_gravity_set) return;
// stop playing bagfile if printing images
cout << "hello" << endl;
// stop playing bagfile if printing images
if(STREAMPAUSE)
nh.setParam("/play_bag", false);
// Return if the gravity vector has not been set.
if (!is_gravity_set)
{
if(STREAMPAUSE)
nh.setParam("/play_bag", true);
return;
}
// Start the system if the first image is received.
// The frame where the first image is received will be