LaserOdometry::hasNewData() and LaserMapping::hasNewData() depends on your computer's speed

[claydergc]

Hello,

I was reviewing the code and in the class LaserOdometry and LaserMapping there are some thresholds that depend on the difference on how fast a pair of topics are published. An example is this line in LaserOdometry::hasNewData() function:

fabs((_timeCornerPointsSharp - _timeSurfPointsLessFlat).toSec()) < 0.005

This line depends on the difference in times when topics cornerPointsSharp surfPointsLessFlat were published and this depends on how fast your computer does it. I have been experimenting with these values and sometimes the estimated trajectory can fail.

[wonder566]

right, i found this too, when i build the package in debug mode it works only with lower pointcloud publishing speed