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Since last_update>0, (now-last_update) is calculated every time, and both now and last_update are updated in seconds, dt is usually set to 0 (zero).

dt=(now-last_update); itself should be done every time, but it is better to use ros::Time::now() instead of ros::Time::now().toSec().

For example, the following

ros::Time now;
ros::Time last_update;
ros::Duration dt;

void estimate::getTime(){
  now= ros::Time::now();
  /* dt.sec : Time difference in seconds */
  /* dt.nsec : Time difference in nanoseconds */