using reporters

source/RobotComponents/components/CartographerMappingAndLocalization/CartographerMappingAndLocalization.cpp

@@ -281,7 +281,7 @@ namespace armarx::cartographer
 
                 // this is the interface to cartographer
                 mappingAdapter = std::make_unique<CartographerAdapter>(
-                    mapPath, configPath, *this, adapterConfig, mapToLoad, map_T_robot_prior);
+                    mapPath, configPath, *this, adapterConfig, mapToLoad, map_T_robot_prior, debugObserver);
 
                 break;
             }

source/RobotComponents/libraries/cartographer/CartographerAdapter.cpp

@@ -295,6 +295,11 @@ namespace armarx::cartographer
                 ->AddSensorData(sensorIdOdom.id, odomData);
         }
 
+        if(cartographerInputDataReporterOdometry.has_value())
+        {
+            cartographerInputDataReporterOdometry->add(timestamp);
+        }
+
         ARMARX_DEBUG << "Inserted odom data";
     }
 
@@ -409,6 +414,11 @@ namespace armarx::cartographer
                     this, "pushInLaserData | Add Sensor Data to TrajectoryBuilder");
                 trajBuilder->AddSensorData(sensorIdLaser.id, timedPointCloudData);
             }
+
+            if(cartographerInputDataReporterLaserScanner)
+            {
+                cartographerInputDataReporterLaserScanner->add(Duration::MicroSeconds(cartographer::fromCarto(timedPointCloudData.time)));
+            }
         }