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odom ts parsing #882

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Merged
paul-nechifor merged 1 commit into from
Dec 26, 2025
Merged

odom ts parsing #882

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6 changes: 2 additions & 4 deletions dimos/robot/unitree_webrtc/type/odometry.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
from dimos.robot.unitree_webrtc.type.timeseries import (
Timestamped,
)
from dimos.types.timestamped import to_timestamp

raw_odometry_msg_sample = {
"type": "msg",
Expand Down Expand Up @@ -95,10 +96,7 @@ def from_msg(cls, msg: RawOdometryMessage) -> "Odometry":
pose["orientation"].get("w"),
)

# ts = to_timestamp(msg["data"]["header"]["stamp"])
# lidar / video timestamps are not available from the robot
# so we are deferring to local time for everything
ts = time.time()
ts = to_timestamp(msg["data"]["header"]["stamp"])
return Odometry(position=pos, orientation=rot, ts=ts, frame_id="world")

def __repr__(self) -> str:
Expand Down