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move updating measurements into new method #746

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move updating measurements into new method #746

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5 changes: 5 additions & 0 deletions include/robot_localization/ros_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -353,6 +353,11 @@ class RosFilter : public rclcpp::Node
//!
void clearMeasurementQueue();

//! @brief Update filter with data from measurements queue
//! @param[in] time - The time at which to carry out integration
//!
void updateFilterWithMeasurements(const rclcpp::Time & time);

//! @brief Adds a diagnostic message to the accumulating map and updates the
//! error level
//! @param[in] error_level - The error level of the diagnostic
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30 changes: 18 additions & 12 deletions src/ros_filter.cpp
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Expand Up @@ -2001,18 +2001,7 @@ void RosFilter<T>::periodicUpdate()

rclcpp::Time cur_time = this->now();

if (toggled_on_) {
// Now we'll integrate any measurements we've received
integrateMeasurements(cur_time);
} else {
// Clear out measurements since we're not currently processing new entries
clearMeasurementQueue();

// Reset last measurement time so we don't get a large time delta on toggle
if (filter_.getInitializedStatus()) {
filter_.setLastMeasurementTime(this->now());
}
}
updateFilterWithMeasurements(cur_time);

// Get latest state and publish it
auto filtered_position = std::make_unique<nav_msgs::msg::Odometry>();
Expand Down Expand Up @@ -2174,6 +2163,23 @@ void RosFilter<T>::periodicUpdate()
}
}

template<typename T>
void RosFilter<T>::updateFilterWithMeasurements(const rclcpp::Time & time)
{
if (toggled_on_) {
// Now we'll integrate any measurements we've received
integrateMeasurements(time);
} else {
// Clear out measurements since we're not currently processing new entries
clearMeasurementQueue();

// Reset last measurement time so we don't get a large time delta on toggle
if (filter_.getInitializedStatus()) {
filter_.setLastMeasurementTime(time);
}
}
}

template<typename T>
void RosFilter<T>::setPoseCallback(
const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg)
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