Commit 70388ead authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

stamp is dt

parent 2e84ac2d
......@@ -71,7 +71,13 @@ void PublisherOdomIcp::publishDerived()
if (publisher_.getNumSubscribers() == 0 )
return;
Eigen::Vector3d pose_origin_last = processor_odom_icp_->getOriginLastTransform();
double dt;
Eigen::Vector3d pose_origin_last = processor_odom_icp_->getOriginLastTransform(dt);
if (dt < 0)
return;
msg_.header.stamp = ros::Time(dt);
auto q_origin_last = Eigen::Quaterniond(Eigen::AngleAxisd(pose_origin_last(2),
Eigen::Vector3d::UnitZ()));
......
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