add linear interpolation union method for IMU #558
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…rences in the code between D415, D430, SR300.
Add SyncedImuPublisher - class for sending the IMU messages syncronized with images. Add clipping_disance option. enabled with parameter: clip_distance. units: meters. Default: no clipping. Add linear accel covariance - for use until calibration methods will provide one. Default: 0.01 Add option: unite_imu - send linear acceleration and radial velocity in the same Imu message. Default: True Ignore frame and imu time stamps and se computer time instead.
…sages that arrived while manipulating frames, until frames are actually sent.
…dgwick, rtabmap and robot_localization to demonstrate Slam with realsense D435i set accel_fps to 250 as this is the new maximal rate in librealsense v2.17.0
removed backward compatibility with librealsense.so version < 2.17.0
…namic_calibration option.
…into fork_development
fixed time stamps for separate imu messages.
default behavior is to send Gyro and Accel separately.
use librealsense2.17.1: find_if with frame_set.
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Add linear interpolation method for union of IMU sensors. Thanks to Marius Fehr for the idea.
Set the initial behavior to sending IMU sensors separately, since this is the raw data. Enabling union with option unite_imu_method as demonstrated in the file opensource_tracking.launch.
fix bug if initializing with unavailable imu profile.