Merge branch 'fix/make_vio_work_on_tesse' of github.mit.edu:SPARK/spark_vio_ros into fix/make_vio_work_on_tesse

* 'fix/make_vio_work_on_tesse' of github.mit.edu:SPARK/spark_vio_ros:
  Add gt_logger launch file for testing
  Add queue to gt_logger

Author: ToniRV

launch/gt_logger.launch

@@ -0,0 +1,10 @@
+<launch>
+  <arg name="gt_topic" default="/tesse/odom"/>
+  <arg name="output_dir" default="$(find spark_vio_ros)/output_logs/TESSE/"/>
+
+  <node name="gt_logger_node" pkg="spark_vio_ros" type="gt_logger_node.py"
+        output="screen">
+    <param name="gt_topic"   value="$(arg gt_topic)"/>
+    <param name="output_dir" value="$(arg output_dir)"/>
+  </node>
+</launch>

scripts/gt_logger_node.py

@@ -15,7 +15,7 @@ def __init__(self):
         self.output_csv_file = os.path.join(self.output_dir, "output_gt_poses.csv")
 
         # rospy.Subscriber(self.gt_topic, TransformStamped, self.gt_cb_tsf)
-        rospy.Subscriber(self.gt_topic, Odometry, self.gt_cb_odom)
+        rospy.Subscriber(self.gt_topic, Odometry, self.gt_cb_odom, queue_size=20)
         self.setup_gt_file()
 
     def gt_cb_tfs(self, msg):