Read predict_to_current_time from ROS parameters

[zygfrydw]

I have added a parameter predict_to_current_time to read the value from ROS parameters, otherwise the member predict_to_current_time_ was not initialized.

[SteveMacenski]

Where is this used? It doesn’t seem to be used anywhere in the codebase.

[zygfrydw]

In the file ros_filter.cpp line 584 and 697 (function RosFilter<T>::integrateMeasurements) on branch galactic

bool predict_to_current_time = predict_to_current_time_;
[...]
if (filter_.getInitializedStatus() && predict_to_current_time) {
rclcpp::Duration last_update_delta =
    current_time - filter_.getLastMeasurementTime();

filter_.validateDelta(last_update_delta);
filter_.predict(current_time, last_update_delta);

// Update the last measurement time and last update time
filter_.setLastMeasurementTime(
    filter_.getLastMeasurementTime() +
    last_update_delta);
}

On noetic branch this variable is called predictToCurrentTime_

[ayrton04]

Yeah, looks like we just failed to load it. It gets loaded in noetic here:

robot_localization/src/ros_filter.cpp

Line 871 in 87b8d6b

nhLocal_.param("predict_to_current_time", predictToCurrentTime_, false);