diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/main.cpp b/src/main.cpp index c7ed177..914aa26 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -357,7 +357,7 @@ main(int argc, char **argv) ros::Publisher ekfPose = n.advertise<geometry_msgs::PoseStamped>("ekfPose", 100); #else /* ----- not ROS_PUBLISH ----- */ // Print unicsv header - printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Bias-X,Bias-Y,Bias-Z,Nfeats\n"); + printf("GPS,UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Bias-X,Bias-Y,Bias-Z,Nfeats\n"); #endif /* ----- not ROS_PUBLISH ----- */ // Read sensors from file int i=0; @@ -369,6 +369,8 @@ main(int argc, char **argv) switch ( msg.msg_type ) { case BESTUTM: utmCallback(msg, mu,qbw); + printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9); + mu.unicsv(); break; case IMG: @@ -388,7 +390,7 @@ main(int argc, char **argv) geometry_msgs::PoseStamped msg; ros::spinOnce(); #else - mu.unicsv(); + //mu.unicsv(); #endif } } |