CollisionPrevention only process distance_sensor updates #12616
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mrivi
approved these changes
Aug 4, 2019
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This broke things Working on a fix. |
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What are you running exactly? What rate is new distance_sensor data coming in at ( |
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Sensors are running at 20Hz. The issue is, since we re-initialize the struct every iteration (50Hz), the timestamp is uninitialized (since distance sensors aren't updated) for 3/5 iterations. |
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@mhkabir do you have a fix or should we only revert this PR for the time being? |
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Have a fix - I'll push it up later today. |
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In current master
distance_sensorwill be uninitialized garbage for the unpublished instances. This will also limit the update work to only process new messages.