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ROS Synchronization Example
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cmake_minimum_required(VERSION 2.8.3) | |
project(sync_example) | |
find_package(catkin REQUIRED COMPONENTS message_filters roscpp sensor_msgs) | |
catkin_package( | |
CATKIN_DEPENDS message_filters roscpp sensor_msgs | |
) | |
include_directories(${catkin_INCLUDE_DIRS}) | |
add_executable(sync_example src/sync_example.cpp) | |
target_link_libraries(sync_example ${catkin_LIBRARIES}) |
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<package format="2"> | |
<name>sync_example</name> | |
<version>0.0.1</version> | |
<description> | |
Approximate time sync example. | |
</description> | |
<author>Thomas Denewiler</author> | |
<maintainer email="[email protected]">Thomas Denewiler</maintainer> | |
<license>BSD</license> | |
<url>https://github.com/tdenewiler/sync_example</url> | |
<buildtool_depend>catkin</buildtool_depend> | |
<depend>message_filters</depend> | |
<depend>roscpp</depend> | |
<depend>sensor_msgs</depend> | |
</package> |
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#include <ros/ros.h> | |
#include <sensor_msgs/Image.h> | |
#include <message_filters/subscriber.h> | |
#include <message_filters/synchronizer.h> | |
#include <message_filters/sync_policies/approximate_time.h> | |
class Node | |
{ | |
public: | |
Node() | |
{ | |
sub_1_.subscribe(nh_, "in1", 1); | |
sub_2_.subscribe(nh_, "in2", 1); | |
sync_.reset(new Sync(MySyncPolicy(10), sub_1_, sub_2_)); | |
sync_->registerCallback(boost::bind(&Node::callback, this, _1, _2)); | |
} | |
void callback(const sensor_msgs::ImageConstPtr &in1, const sensor_msgs::ImageConstPtr &in2) | |
{ | |
ROS_INFO("Synchronization successful"); | |
} | |
private: | |
ros::NodeHandle nh_; | |
message_filters::Subscriber<sensor_msgs::Image> sub_1_; | |
message_filters::Subscriber<sensor_msgs::Image> sub_2_; | |
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> MySyncPolicy; | |
typedef message_filters::Synchronizer<MySyncPolicy> Sync; | |
boost::shared_ptr<Sync> sync_; | |
}; | |
int main(int argc, char **argv) | |
{ | |
ros::init(argc, argv, "synchronizer"); | |
Node synchronizer; | |
ros::spin(); | |
} |
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