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message_filters
and image_transport
are two separate ROS packages. Each provides several _nodes_ which can be used in your configuration. In general, message_filters
nodes are about filtering or coordinating message deliver, no matter the content of the messages, while image_transport
nodes are concerned with manipulating the content of the messages.
To process the RGB and depth image together I've used two different strategies:
TimeSynchronizer
message filter to coordinate the two different messages and call a single callback expecting both images. This is probably the best way. The downside is that there is a delay in TimeSynchronizer
to pair up the most appropriate messages, which can delay processing of whichever image you want to make the highest priority.