From ee73770c76e9a6499d20c8c81b8ce875b30bffea Mon Sep 17 00:00:00 2001
From: sr-acc <angel.corrales@star-robotics.com>
Date: Thu, 13 Feb 2025 12:51:20 +0100
Subject: [PATCH] Prevent NaN or zero dt in IMU propagation

---
 src/IMU_Processing.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/IMU_Processing.cpp b/src/IMU_Processing.cpp
index b9306242..d5324fe6 100755
--- a/src/IMU_Processing.cpp
+++ b/src/IMU_Processing.cpp
@@ -353,6 +353,12 @@ void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_
         offs_t = prop_end_time - prop_beg_time;
       }
 
+      if (dt != dt || dt == 0.0)
+      {
+        std::cerr << "ERROR: dt is NaN or zero in IMU Propagation" << std::endl;
+        continue;
+      }
+
       dt_all += dt;
       // printf("[ LIO Propagation ] dt: %lf \n", dt);