Function ProcessLoop

isee-preprocessing/src/data_process_node.cpp:114–140

}

void ProcessLoop(std::shared_ptr<ImuProcess> p_imu) {
  ROS_INFO("Start ProcessLoop");

  ros::Rate r(1000);
  while (ros::ok()) {
    MeasureGroup meas;
    std::unique_lock<std::mutex> lk(mtx_buffer);
    sig_buffer.wait(lk,
                    [&meas]() -> bool { return SyncMeasure(meas) || b_exit; });
    lk.unlock();

    if (b_exit) {
      ROS_INFO("b_exit=true, exit");
      break;
    }

    if (b_reset) {
      ROS_WARN("reset when rosbag play back");
      p_imu->Reset();
      b_reset = false;
      continue;
    }
    p_imu->Process(meas);

    r.sleep();
  }
}

int main(int argc, char **argv) {
  ros::init(argc, argv, "data_process");