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Remove extensive computations from callbacks #19

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guilhermelawless opened this issue May 14, 2018 · 0 comments
Open

Remove extensive computations from callbacks #19

guilhermelawless opened this issue May 14, 2018 · 0 comments
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@guilhermelawless
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Currently the PF iteration is started by odometryCallback, which is bad practice. We should stop using ros::spin and move to a while() + ros::spinOnce() loop.

This makes it easier to time the algorithm, checking if we are running behind, and other benifits.
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