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"intersect" several transformations

asked 2012-05-28 01:03:41 -0500

PedroS. gravatar image

Hi all,

I have a node that will lookafter two transformations. My problem is that both have different frequencies and I with the information os these two I have to publish a new one. So I want to know what is the best way to publish the new one, what timestamp should I define to the new one for example.

Thanks for your help

Pedro

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answered 2012-05-28 15:14:14 -0500

weiin gravatar image

If you are willing to dig into code, the robot_pose_ekf code shows how to combine different data streams.

A rough idea: Look at all time stamps from all incoming data eg. time_A, time_B, time_C. Pick those that are not too old (ie within your timeout range from current_time). Finally, use the min of the valid timestamps vs current_time eg. if time_C is outside the timeout range, your output timestamp will be min(current_time, time_A, time_B)

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Asked: 2012-05-28 01:03:41 -0500

Seen: 113 times

Last updated: May 28 '12