{"action":"closed","issue":{"url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/71","labels_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/71/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/71/comments","events_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/71/events","html_url":"https://github.com/ethz-asl/ethzasl_msf/issues/71","id":36415947,"number":71,"title":"delay and pose sensor setup","user":{"login":"fboris","id":4323584,"avatar_url":"https://avatars.githubusercontent.com/u/4323584?v=3","gravatar_id":"","url":"https://api.github.com/users/fboris","html_url":"https://github.com/fboris","followers_url":"https://api.github.com/users/fboris/followers","following_url":"https://api.github.com/users/fboris/following{/other_user}","gists_url":"https://api.github.com/users/fboris/gists{/gist_id}","starred_url":"https://api.github.com/users/fboris/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fboris/subscriptions","organizations_url":"https://api.github.com/users/fboris/orgs","repos_url":"https://api.github.com/users/fboris/repos","events_url":"https://api.github.com/users/fboris/events{/privacy}","received_events_url":"https://api.github.com/users/fboris/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2014-06-24T19:12:12Z","updated_at":"2015-02-07T23:52:31Z","closed_at":"2015-02-07T23:52:31Z","body":"hi guys,\r\nWhen I was using pose_sensor.launch as my launch file, I found I always got these message. I'm using imu(very poor imu MPU9250) at 800hz with [svo](https://github.com/uzh-rpg/rpg_svo) at 60hz.\r\n```\r\n[ WARN] [1403628860.088846747]: msf_core: imu message drop curr seq:44574 expected: 44561\r\n[ WARN] [1403628860.089542803]: You tried to give me a measurement which is too far in the past. Are you sure your clocks are synced and delays compensated correctly? [measurement: 8859.94 (s) first state in buffer: 8859.96 (s)]\r\n```\r\nMy question is how to set the delay correctly?\r\n\r\nSometime, the fuzzy tracking had been triggered. Then, the filter went to diverge. I refer the fuzzy tracking that mentioned by @simonlynen (https://github.com/ethz-asl/ethzasl_sensor_fusion/issues/20). I checked my quaternion of camera w.r.t imu. It is my opinion: If I set some rotation wrong, it could triggered the *fuzzy tracking* to the end. But It did not happen. I'm not sure these two issue are related.\r\n\r\nLast question, are these two values for pose sensor translation and rotation noise configuration?\r\nin pose_sensor.launch\r\n```\r\npose_sensor/pose_noise_meas_p: 0.02\r\npose_sensor/pose_noise_meas_q: 0.02\r\n```\r\n"}}