自动驾驶（作业1）

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include "ros/ros.h"
#include <iostream>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>


using namespace sensor_msgs;
using namespace message_filters;

void callback(const ImageConstPtr& image, const PointCloud2ConstPtr& pc_info)  //回调中包含多个消息
{
  //std::cout<<image->header<<pc_info->header<<std::endl;
    std::cout<<1;
}
int main(int argc, char **argv)
{

    ros::init(argc, argv, "pc_image_tongbu");
    ros::NodeHandle rs_lidar;

    message_filters::Subscriber<Image> image_sub(rs_lidar,"/zed/zed_node/left/image_rect_color",10);
    message_filters::Subscriber<PointCloud2> lidar_sub(rs_lidar,"/rslidar_points",10);

    TimeSynchronizer<Image, PointCloud2> sync(image_sub, lidar_sub, 10);       // 同步

    sync.registerCallback(boost::bind(&callback, _1, _2)); 

    ros::spin();

    return 0;
}

参考:https://blog.csdn.net/ttomchy/article/details/82431320

 

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include "ros/ros.h"
#include <iostream>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>


using namespace sensor_msgs;
using namespace message_filters;


typedef message_filters::sync_policies::ApproximateTime<Image,PointCloud2> sync_policy_classification;

void callback(const ImageConstPtr& image, const PointCloud2ConstPtr& pc_info)  //回调中包含多个消息
{
  std::cout<<image->header<<pc_info->header<<std::endl;
   // std::cout<<1;
}

int main(int argc, char **argv)
{

    ros::init(argc, argv, "pc_image_tongbu");
    ros::NodeHandle rs_lidar;

    message_filters::Subscriber<Image> image_sub(rs_lidar,"/zed/zed_node/left/image_rect_color",10);
    message_filters::Subscriber<PointCloud2> lidar_sub(rs_lidar,"/rslidar_points",10);

    message_filters::Synchronizer<sync_policy_classification> sync(sync_policy_classification(10), image_sub, lidar_sub);

    sync.registerCallback(boost::bind(&callback, _1, _2));



    ros::spin();

    return 0;
}

#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include "ros/ros.h"
#include <iostream>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <rosbag/bag.h>

using namespace sensor_msgs;
using namespace message_filters;

rosbag::Bag bag_record;
std::string img_topic="/zed/zed_node/left/image_rect_color";
std::string pc_topic="/rslidar_points";
typedef message_filters::sync_policies::ApproximateTime<Image,PointCloud2> sync_policy_classification;

void callback(const ImageConstPtr& image, const PointCloud2ConstPtr& pc_info)  //回调中包含多个消息
{
    std::cout<<"time gap is : "<<image->header.stamp.now() - pc_info->header.stamp.now() <<std::endl;
  
    bag_record.write(img_topic,image->header.stamp.now(), image);
    bag_record.write(pc_topic, pc_info->header.stamp.now(), pc_info);
}

int main(int argc, char **argv)
{

    ros::init(argc, argv, "pc_image_tongbu");
    ros::NodeHandle rs_lidar;
    bag_record.open("TEST.bag", rosbag::bagmode::Write);

    message_filters::Subscriber<Image> image_sub(rs_lidar,img_topic,10);
    message_filters::Subscriber<PointCloud2> lidar_sub(rs_lidar,pc_topic,10);

    message_filters::Synchronizer<sync_policy_classification> sync(sync_policy_classification(10), image_sub, lidar_sub);

    sync.registerCallback(boost::bind(&callback, _1, _2));

    ros::spin();

    return 0;
}

 

 CMAKELISTS

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  image_transport
  rosbag
)

还有一个参考博客如下 :https://blog.csdn.net/qq_36396941/article/details/105404232