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Separate odom tf publish time #19

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efernandez
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This PR is on top of #18

This adds two things:

  1. Use separate odom topic and odom tf publish time variables, because they use different real time publisher, calling to their respective trylock() methods, so in some corners cases one can get called in a given cycle but not the other.
  2. Homogenize some variable names (mainly v_ into dp_ when they don't represent velocities, but "differences of position") and enforce constness where possible; in odometry.h the changes are only of this kind in this PR.

@paulbovbel @servos @afakihcpr

… tied to accelerating in the opposite direction.
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👍

@efernandez efernandez force-pushed the pose_twist_from_position_velocity branch from 04d0cc3 to 22b106a Compare February 1, 2016 15:15
@efernandez efernandez force-pushed the separate_odom_tf_publish_time branch from 76fbdf0 to 61b205c Compare February 1, 2016 15:18
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#18 is now merged into indigo-devel, closing this PR and creating a new one on top of indigo-devel to merge it.

@efernandez efernandez closed this Feb 1, 2016
@efernandez efernandez deleted the separate_odom_tf_publish_time branch February 1, 2016 15:29
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3 participants