Robot Localization Time stamps
Hello,
I have been trying to understand how robot_localization deals with timestamps but there are still some aspects that I have not been able to quite grasp yet.
I have the global EKF filter from robot_localization currently working at 60Hz and I have the following sensors operating at these frequencies:
- Wheel odometry: 50Hz
- GPS odometry: 10Hz
- Heading: 5Hz
- IMU: 50Hz
What timestamp has the odometry/filtered output of EKF? The one from the last available measurement? In this case, if your input sensors have lower frequency than than the filter output, it will repeat measurements and timestamps.
The filter predicts and corrects with measurements and then it does a periodic update at the specified frequency (60Hz in my case). So in this case, if the periodic update matches with a prediction step, it will publish the prediction or it will publish the last correction?
Thanks a lot! :)