[Feature] Implement constant pose publishing frequency#71
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rsasaki0109 merged 4 commits intorsasaki0109:mainfrom Nov 9, 2025
Merged
[Feature] Implement constant pose publishing frequency#71rsasaki0109 merged 4 commits intorsasaki0109:mainfrom
rsasaki0109 merged 4 commits intorsasaki0109:mainfrom
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rsasaki0109
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Oct 28, 2025
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@nino192 |
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sorry for the late reply, i've had alot of work over the last week |
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@nino192 Merged! Thanks for the PR! |
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This PR introduces the ability to publish pose on a set timer rather then only when new pointcloud is received. In this way, pose calculated from odometry via dead reckoning for scan correction is also published on a constant frequency. This helps improve path following algorithm behavior since it provides a constant stream of data. However, using an EKF is still a recommended way to do this in case of noisy odometry data.
This introduces 2 new parameters:
enable_timer_publishing - whether or not to publish on a constant timer or only when the new pointcloud is received
pose_publish_frequency - frequency on which to publish pose if enable_timer_publishing is set to true