ros之message_filter消息同步

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

1. error: ‘value’ is not a member of ros::message_traits::TImeStamp<消息类型>

• 消息类型中没有Header,就是没有时间戳信息,所以不能够同步。可以自定义消息格式，在其中最上面添加Header
  ROS::message_filters中的一个报错（mt::TimeStamp……）
  

2. Synchronizer with approximate time policy in a class [C++]
   在类中定义Synchronizer and the registerCallback

#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/