Revision history [back]

Here is the equivalent...

void callback(const sensor_msgs::msg::Image::ConstSharedPtr& left, const     
sensor_msgs::msg::Image::ConstSharedPtr& right) {
    // Callback function...
}

int main(int argc, char** argv){
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("my_node");

message_filters::Subscriber<sensor_msgs::msg::Image> image_1(node, "image_1");
message_filters::Subscriber<sensor_msgs::msg::Image> image_2(node, "image_2");
message_filters::TimeSynchronizer<sensor_msgs::msg::Image, sensor_msgs::msg::Image> sync(image_1, image_2, 10);
sync.registerCallback(boost::bind(&callback, _1, _2));

rclcpp::spin(node);

return 0;
}

Here is I finally found the equivalent...

void callback(const sensor_msgs::msg::Image::ConstSharedPtr& left, const     
sensor_msgs::msg::Image::ConstSharedPtr& right) {
    // Callback function...
}

int main(int argc, char** argv){
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("my_node");

message_filters::Subscriber<sensor_msgs::msg::Image> image_1(node, "image_1");
message_filters::Subscriber<sensor_msgs::msg::Image> image_2(node, "image_2");
message_filters::TimeSynchronizer<sensor_msgs::msg::Image, sensor_msgs::msg::Image> sync(image_1, image_2, 10);
sync.registerCallback(boost::bind(&callback, _1, _2));

rclcpp::spin(node);

return 0;
}

I finally found the equivalent...

 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #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/bind/bind.hpp"

void callback(const sensor_msgs::msg::Image::ConstSharedPtr& left, const     
sensor_msgs::msg::Image::ConstSharedPtr& right) {
    // Callback function...
}

int main(int argc, char** argv){
 rclcpp::init(argc, argv);
 auto node = rclcpp::Node::make_shared("my_node");

 message_filters::Subscriber<sensor_msgs::msg::Image> image_1(node, "image_1");
 message_filters::Subscriber<sensor_msgs::msg::Image> image_2(node, "image_2");
 message_filters::TimeSynchronizer<sensor_msgs::msg::Image, sensor_msgs::msg::Image> sync(image_1, image_2, 10);
 sync.registerCallback(boost::bind(&callback, _1, _2));
boost::placeholders::_1, boost::placeholders::_2));
  rclcpp::spin(node);

 return 0;
}

I finally found the equivalent...

 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #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/bind/bind.hpp"

void callback(const sensor_msgs::msg::Image::ConstSharedPtr& left, const     
 sensor_msgs::msg::Image::ConstSharedPtr& right) {
    // Callback function...
}

int main(int argc, char** argv){
    rclcpp::init(argc, argv);
    auto node = rclcpp::Node::make_shared("my_node");

    message_filters::Subscriber<sensor_msgs::msg::Image> image_1(node, "image_1");
    message_filters::Subscriber<sensor_msgs::msg::Image> image_2(node, "image_2");
    message_filters::TimeSynchronizer<sensor_msgs::msg::Image, sensor_msgs::msg::Image> sync(image_1, image_2, 10);
    sync.registerCallback(boost::bind(&callback, boost::placeholders::_1, boost::placeholders::_2));
     rclcpp::spin(node);
     return 0;
}