感谢:ros多传感器时间同步(message_filters)_hongge_smile的博客-CSDN博客_ros多传感器时间同步
一、VINS常用的方法
std::queue buf1; std::queue buf2; std::thread process; //typedef M 传感器数据类型,比如sensor_msg::PointCloud2、sensor_msg::Image等等 void callback1(M& msg){ //数据入队 buf1.push(msg); //其他代码。。。 } void callback2(M& msg){ //数据入队 buf2.push(msg); //其他代码。。。 } void process_comparation(){ while(ros::ok()){ M data1=buf1.front(); M data2=buf2.front(); if(data1.header.timestamp.toSec()>data2.header.timestamp.toSec()){ buf2.pop(); } else buf1.pop(); //其他操作data1和data2的代码 } } int main(int argc,char** argv){ //initialization }
二、ROS自带多传感器时间同步机制方法
分别订阅不同的需要融合的传感器的主题,通过TimeSynchronizer 统一接收多个主题,并产生一个同步结果的回调函数,在回调函数里处理同步时间后的数据。
注意
- 只有多个主题都有数据的时候才可以触发回调函数。如果其中一个主题的发布节点崩溃了,则整个回调函数永远无法触发回调。
- 当多个主题频率一致的时候也无法保证回调函数的频率等于订阅主题的频率,一般会很低。实际测试订阅两个需要同步的主题,odom 50Hz、imu 50Hz,而回调函数的频率只有24Hz左右。
message_filters 是一个用于roscpp和rospy的实用程序库。 它集合了许多的常用的消息“过滤”算法。消息过滤器message_filters类似一个消息缓存,当消息到达消息过滤器的时候,可能并不会立即输出,而是在稍后的时间点里满足一定条件下输出。
举个例子,比如时间同步器,它接收来自多个源的不同类型的消息,并且仅当它们在具有相同时间戳的每个源上接收到消息时才输出它们,也就是起到了一个消息同步输出的效果。
下面同步雷达和图像的数据.代码如下:
// msg_filter.cpp
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <iostream>
std::string img_topic = "/fuhong/_img";
std::string point_topic = "/fuhong/_points";
//rosbag::Bag bag_record;//文件直接记录
ros::Publisher img_pub;
ros::Publisher pointcloud_pub;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> testSyncPolicy;
//回调函数
void callback(const sensor_msgs::ImageConstPtr &image, const sensor_msgs::PointCloud2ConstPtr &point) //回调中包含多个消息
{
//以实时发布的方式发布
img_pub.publish(*image);
pointcloud_pub.publish(*point);
}
int main(int argc, char **argv) {
ros::init(argc, argv, "time_synch");
ros::NodeHandle n;
//发布的话题
img_pub = n.advertise<sensor_msgs::Image>(img_topic, 1000);
pointcloud_pub = n.advertise<sensor_msgs::PointCloud2>(point_topic, 1000);
//订阅的话题
message_filters::Subscriber<sensor_msgs::Image> img_sub(n, "/zed/zed_node/left/image_rect_color", 1);// topic1 输入
message_filters::Subscriber<sensor_msgs::PointCloud2> pointcloud_sub(n, "/rslidar_points", 1);// topic2 输入
message_filters::Synchronizer<testSyncPolicy> sync(testSyncPolicy(10), img_sub, pointcloud_sub);// 同步
sync.registerCallback(boost::bind(&callback, _1, _2));
ros::spin();
ros::shutdown();
return 0;
}
CMakeList.txt文件
cmake_minimum_required(VERSION 2.8.3)
project(subscriber)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rosmsg
rospy
message_filters
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES subscriber
# CATKIN_DEPENDS roscpp rosmsg rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/subscriber.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/subscriber_node.cpp)
add_executable(msg_filter src/msg_filter.cpp)
target_link_libraries(msg_filter
${catkin_LIBRARIES}
)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_subscriber.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
package.xml文件
<?xml version="1.0"?>
<package format="2">
<name>subscriber</name>
<version>0.0.0</version>
<description>The subscriber package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fuhong@todo.todo">fuhong</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/subscriber</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rosmsg</build_depend>
<build_depend>rospy</build_depend>
<build_depend>message_filters</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rosmsg</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rosmsg</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>message_filters</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
同步前的效果:
同步后的效果:
参考: