您好，在这里我也遇到了同样的问题，为什么pub窗口内第一帧的位姿呢

Hi there, I'm XiaoLiang Jiao(焦小亮)👋

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This is the place where I open source stuff and break things 😢

🔭 I’m currently working on 3d lidar SLAM and robust sensor fusion.
🌱 I’m currently learning optimization tightly coupled gnss with other sensor integration.
👯 I'm a C++ enthusiast and love for code optimization.
🤔 I’m looking for help with Deep Learning, Model Acceleration using OpenCL and CUDA.
💬 Ask me about robot state estimation involved in slam and navigation.
📫 How to reach me: [email protected].
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	void publishOdometry() {
	if(pose_info_cloud_frame->points.size() >= slide_window_width) { //发布的是当前滑窗的第一个位姿
	odom_mapping.header.stamp = ros::Time().fromSec(time_new_odom);//TODO: 时间戳是当前滑窗的最后一个位姿的时间戳
	odom_mapping.pose.pose.orientation.w = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].qw; //不是减去滑窗大小,应该 -1 ?
	odom_mapping.pose.pose.orientation.x = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].qx;
	odom_mapping.pose.pose.orientation.y = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].qy;
	odom_mapping.pose.pose.orientation.z = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].qz;
	odom_mapping.pose.pose.position.x = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].x;
	odom_mapping.pose.pose.position.y = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].y;
	odom_mapping.pose.pose.position.z = pose_info_cloud_frame->points[pose_info_cloud_frame->points.size()-slide_window_width].z;
	pub_odom.publish(odom_mapping);
	}