Delta time (dt) variable inside pose_system.hpp

[Kunal Parihar]

I am a little confused as to how did you choose dt as 0.01?
https://github.com/koide3/hdl_localization/blob/master/include/hdl_localization/pose_system.hpp#L21
Imu frequency is 200 Hz
I guess dt should be equal to (1 / imu_frequency)

Thank you in advance

[koide3]

Yes, you are correct, and dt will be updated based on the last and current data timestamps.

hdl_localization/src/hdl_localization/pose_estimator.cpp

Line 66 in 1cdef71

 ukf->system.dt = dt; 

[Kunal Parihar]

okay, I got it. thanks