Merge pull request #53 from cmrobotics/fix/ext_pose_time_match

Fix external pose time matching
cmrobotics · Jan 12, 2024 · e262857 · e262857
2 parents 14a8588 + 66edc20
commit e262857
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nav2_amcl/src/sensors/external_pose/external_pose.cpp b/nav2_amcl/src/sensors/external_pose/external_pose.cpp
@@ -19,10 +19,10 @@ ExternalPoseBuffer::addMeasurement(const ExternalPoseMeasument measurement)
 bool
 ExternalPoseBuffer::findClosestMeasurement(double query_time_sec, ExternalPoseMeasument& out_measurement) const
 {
-    uint32_t min_abs_diff = INT32_MAX;
+    double min_abs_diff = std::numeric_limits<double>::max();
     size_t min_diff_idx = 0;
     for(size_t i = 0; i < buffer_.size(); i++){
-        uint32_t abs_diff = std::abs(buffer_[i].time_sec - query_time_sec);
+        double abs_diff = std::abs(buffer_[i].time_sec - query_time_sec);
 
         if(abs_diff < min_abs_diff){
             min_abs_diff = abs_diff;