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1 | initial version |
robot_localization
uses the time stamps in the headers of its input messages. There is no use of input frequency in timing. At a high level, the order of operations is:
ros::spinOnce()
, let all the callbacks fire.Whether your bag is played back with a rate of 0.1 or 30, the output should be the same. You can verify this by tweaking some of the test launch files in the source code under the test
directory and watching the output. Also, see the source code here:
https://github.com/cra-ros-pkg/robot_localization/blob/indigo-devel/src/ros_filter.cpp#L382
...and here:
https://github.com/cra-ros-pkg/robot_localization/blob/indigo-devel/src/filter_base.cpp#L158
Are you sure you're running with use_sim_time
set to true? It might be worth double-checking your timing logic for the bag file generation.