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Fixed Odometry step_time calculation #951

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Fixed Odometry step_time calculation #951

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1e04342
Last Time to uint32
JustSomeRandomUsername Apr 12, 2023
595aa2e
last_time_ to odometry.hpp
JustSomeRandomUsername Apr 12, 2023
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2 changes: 2 additions & 0 deletions turtlebot3_node/include/turtlebot3_node/odometry.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,8 @@ class Odometry

double wheels_separation_;
double wheels_radius_;
uint32_t last_time_;


std::string frame_id_of_odometry_;
std::string child_frame_id_of_odometry_;
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10 changes: 4 additions & 6 deletions turtlebot3_node/src/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,15 +108,14 @@ Odometry::Odometry(

void Odometry::joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr joint_state_msg)
{
static rclcpp::Time last_time = joint_state_msg->header.stamp;
rclcpp::Duration duration(rclcpp::Duration::from_nanoseconds(
joint_state_msg->header.stamp.nanosec - last_time.nanoseconds()));
joint_state_msg->header.stamp.nanosec - last_time_));

update_joint_state(joint_state_msg);
calculate_odometry(duration);
publish(joint_state_msg->header.stamp);

last_time = joint_state_msg->header.stamp;
last_time_ = joint_state_msg->header.stamp.nanosec;
}

void Odometry::joint_state_and_imu_callback(
Expand All @@ -129,16 +128,15 @@ void Odometry::joint_state_and_imu_callback(
joint_state_msg->header.stamp.nanosec,
imu_msg->header.stamp.nanosec);

static rclcpp::Time last_time = joint_state_msg->header.stamp;
rclcpp::Duration duration(rclcpp::Duration::from_nanoseconds(
joint_state_msg->header.stamp.nanosec - last_time.nanoseconds()));
joint_state_msg->header.stamp.nanosec - last_time_));

update_joint_state(joint_state_msg);
update_imu(imu_msg);
calculate_odometry(duration);
publish(joint_state_msg->header.stamp);

last_time = joint_state_msg->header.stamp;
last_time_ = joint_state_msg->header.stamp.nanosec;
}

void Odometry::publish(const rclcpp::Time & now)
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