The importance of the parameter b_pub_odom_on_timer

[dummyjohn77]

Hi, The launch file provides us with the parameter : b_pub_odom_on_timer. I was a bit lost on its importance.

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Added to this, in lines 430-436 of locus.cc we are defining the variable "stamp"

if (b_adaptive_input_voxelization_) { ApplyAdaptiveInputVoxelization(msg); }

CheckMsgDropRate(msg);

ros::Time stamp = pcl_conversions::fromPCL(msg->header.stamp);

Please correct me if I am wrong. This time stamp is used to acquire the corresponding odometry and IMU messages from the buffer. In other words, is this the time stamp that is used in the health monitor and the subsequent lidar-odometry and mapping?

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