转载自: https://blog.csdn.net/He3he3he/article/details/109643391
1.message_filters介绍
message_filters用于对齐多种传感信息的时间戳,对齐时间戳有两种方式,一种是时间戳完全对齐 :ExactTime Policy ,另一种是时间戳相近:ApproximateTime Policy
2.message_filters作用
同时订阅并发布话题
时间同步
3.message_filters实例
头文件
//ros头文件
#include <ros/ros.h>
//时间同步
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
//传感器消息
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
subandpub.h
#ifndef __SUBANDPUB_H__
#define __SUBANDPUB_H__
//ros头文件
#include <ros/ros.h>
//时间同步
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
//传感器消息
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud2.h>
class subscriberANDpublisher{
public:
subscriberANDpublisher();
void callback(const sensor_msgs::ImageConstPtr &image, const sensor_msgs::PointCloud2ConstPtr &pointcloud);
private:
ros::NodeHandle nh;
ros::Publisher camera_pub;
ros::Publisher lidar_pub;
message_filters::Subscriber<sensor_msgs::PointCloud2> lidar_sub;//雷达订阅
message_filters::Subscriber<sensor_msgs::Image> camera_sub;//相机订阅
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> syncpolicy;//时间戳对齐规则
typedef message_filters::Synchronizer<syncpolicy> Sync;
boost::shared_ptr<Sync> sync_;//时间同步器
};
#endif
subandpub.cpp
#include "SubandPub.h"
subscriberANDpublisher::subscriberANDpublisher()
{
//订阅话题
lidar_sub.subscribe(nh, "/rslidar_points", 1);
camera_sub.subscribe(nh, "/zed/zed_node/left/image_rect_color", 1);
//发布者
camera_pub=nh.advertise<sensor_msgs::Image>("sync/img",1000);
lidar_pub = nh.advertise<sensor_msgs::PointCloud2>("sync/lidar", 1000);
//回调
sync_.reset(new Sync(syncpolicy(10), camera_sub, lidar_sub));
sync_->registerCallback(boost::bind(&subscriberANDpublisher::callback, this, _1, _2));
}
void subscriberANDpublisher::callback(const sensor_msgs::ImageConstPtr &image, const sensor_msgs::PointCloud2ConstPtr &pointcloud) {
ROS_INFO("done! ");
camera_pub.publish(image);
lidar_pub.publish(pointcloud);
}
main.cpp
#include <ros/ros.h>
#include "SubandPub.h"
int main(int argc, char **argv) {
ros::init(argc, argv, "node");
subscriberANDpublisher sp;
ROS_INFO("main done! ");
ros::spin();
}
cmakelist
package.xml
5.参考
链接:https://wiki.ros.org/message_filters