[RST-2202] Wait for a valid timestamp #74
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…the ignition sensor from generating an initial state with the wrong stamp.
matthewbwhitaker
approved these changes
Jul 8, 2019
ayrton04
approved these changes
Jul 9, 2019
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Wait for a valid timestamp before loading the plugins. This prevents the ignition sensor from generating an initial state with the wrong stamp.
Previously the ignition sensor was generating a constraint at time 0, before the clock had been initialized. Once the clock was initialized, the motion model would then generate a constraint from 0 to the current time (~4000s in my test). This results in a large uncertainty for the current state, leading to an ill-conditioned jacobian matrix, leading to numerical errors when computing covariances (and probably other things). I note that had this been real data, the delta between 0 and a real stamp would have been much much much worse.