需求
ROS中需要同时订阅多个topic，并对多个topic的数据同时处理
解决办法
可以使用ros的message_filter消息同步方法;
具体使用方法可以参考一下链接
ros之message_filter消息同步
时间同步及在回调函数中发布ROS消息
注意事项
- error: ‘value’ is not a member of ros::message_traits::TImeStamp<消息类型>
- Synchronizer with approximate time policy in a class [C++]
在类中定义Synchronizer and the registerCallback
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| #include "header.h"
using namespace message_filters;
typedef control_sys::IntWithHeader myMsg;
class Node
{
public:
Node()
{
sub1.subscribe(node, "in1", 1);
sub2.subscribe(node, "in2", 1);
sync.reset(new Sync(MySyncPolicy(10), sub1, sub2));
sync->registerCallback(boost::bind(&Node::callback, this, _1, _2));
}
void callback(const control_sys::IntWithHeaderConstPtr &in1, const control_sys::IntWithHeaderConstPtr &in2)
{
std::cout << "Synchronization successful" << std::endl;
}
private:
ros::NodeHandle node;
ros::Publisher pub;
std_msgs::Int32 out;
message_filters::Subscriber<myMsg> sub1;
message_filters::Subscriber<myMsg> sub2;
typedef sync_policies::ApproximateTime<myMsg, myMsg> MySyncPolicy;
typedef Synchronizer<MySyncPolicy> Sync;
boost::shared_ptr<Sync> sync;
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "synchronizer");
Node synchronizer;
ros::spin();
}
|
synchronizer-with-approximate-time-policy-in-a-class-c/
