ROS：：多话题消息同步

ROS：：多话题消息同步

出处:https://www.freesion.com/article/8482732090/

#include <ros/ros.h>
#include "sensor_msgs/LaserScan.h"
#include "geometry_msgs/PoseWithCovarianceStamped.h"
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/time_synchronizer.h>
#include <boost/thread/thread.hpp>
#include <iostream>

void multi_callback(const sensor_msgs::LaserScanConstPtr& scan, const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose)
{
    std::cout << "同步完成！" << std::endl;
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "multi_receiver");
    ros::NodeHandle n;

    message_filters::Subscriber<sensor_msgs::LaserScan> subscriber_laser(n,"scan",1000,ros::TransportHints().tcpNoDelay());
    message_filters::Subscriber<geometry_msgs::PoseWithCovarianceStamped> subscriber_pose(n,"car_pose",1000,ros::TransportHints().tcpNoDelay());
    
    typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::LaserScan, geometry_msgs::PoseWithCovarianceStamped> syncPolicy;
    //message_filters::TimeSynchronizer<sensor_msgs::LaserScan,geometry_msgs::PoseWithCovarianceStamped> sync(subscriber_laser, subscriber_pose, 10);
    message_filters::Synchronizer<syncPolicy> sync(syncPolicy(10), subscriber_laser, subscriber_pose);  
    sync.registerCallback(boost::bind(&multi_callback, _1, _2));
    
    std::cout << "hahah" << std::endl;

    ros::spin();
    return 0;
}