read_imu_data and read_gps_data function not being called?

[MeghaMaheshwari]

I would have expected the read_imu_data and the read_gps_data functions to be called in the loop . May be in the function loop in run_fusion.cpp but I dont see it being called anywhere. How is the data being read from the sensors to get measurements across time intervals.
or am I missing something?
Do you expect all the readings to be available before hand or can this also work in real time ?

[karanchawla]

This is meant to be used as a library. You can preprocess the data and run it in real time as you're getting your sensor measurements. Use the prediction loop for every IMU reading you get (mostly since this happens at a pretty high frequency ~50-100Hz) and use the update loop for every new GPS reading you get. You can easily incorporate other sensor values as well.

Feel free to ask any other questions.