Added ability to reset IMU filters when ROS time jumps back #165
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Signed-off-by: Martin Pecka <[email protected]>
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I'm not sure if ABI compatibility is an issue for this package or not. If it is, the PR will need a few changes to retain ABI compatibility. |
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Beautiful, thank you! Breaking ABI should be okay for this package. |
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Fixes #164. Currently, the PR only supports resetting on jumps back. Default behavior is the same as tf2_listener: Reset whenever
ros::Time::now()is lower than the previous recorded one. Parameter~time_jump_thresholdcan be used to specify that jumps smaller than the threshold do not result in resetting the filter (e.g. when running in real time and system clock jumps because of a time sync event). To disable the resetting behavior, set the threshold toDURATION_MAX.