From 64de36c1e3367d3078c791f80b820718af56f6f6 Mon Sep 17 00:00:00 2001
From: Junichiro Sugihara <j-sugihara@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 26 Nov 2023 16:45:06 +0900
Subject: [PATCH] [Gimablrotor] add an attribute of control loop duration to
 initialize basenavigator

---
 .../gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h | 3 ++-
 robots/gimbalrotor/src/gimbalrotor_navigation.cpp            | 5 +++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
index 97c0494a6..3d26c066c 100644
--- a/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
+++ b/robots/gimbalrotor/include/gimbalrotor/gimbalrotor_navigation.h
@@ -15,7 +15,8 @@ namespace aerial_robot_navigation
 
     void initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
                     boost::shared_ptr<aerial_robot_model::RobotModel> robot_model,
-                    boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator) override;
+                    boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator,
+                    double loop_du) override;
 
     void update() override;
 
diff --git a/robots/gimbalrotor/src/gimbalrotor_navigation.cpp b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
index a1c648dd4..f49898591 100644
--- a/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
+++ b/robots/gimbalrotor/src/gimbalrotor_navigation.cpp
@@ -14,10 +14,11 @@ GimbalrotorNavigator::GimbalrotorNavigator():
 
 void GimbalrotorNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
                                    boost::shared_ptr<aerial_robot_model::RobotModel> robot_model,
-                                   boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator)
+                                      boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator,
+                                      double loop_du)
 {
   /* initialize the flight control */
-  BaseNavigator::initialize(nh, nhp, robot_model, estimator);
+  BaseNavigator::initialize(nh, nhp, robot_model, estimator, loop_du);
 
   curr_target_baselink_rot_pub_ = nh_.advertise<spinal::DesireCoord>("desire_coordinate", 1);
   final_target_baselink_rot_sub_ = nh_.subscribe("final_target_baselink_rot", 1, &GimbalrotorNavigator::setFinalTargetBaselinkRotCallback, this);