roslibjs/roslibpy synchronize topics
Hi everyone,
is there a (simple/royal road) way to synchronize topics with rosbridge_suite/roslibjs/roslibpy?
ROS supports synchronization of messages with a Header based on their stamp. There are multiple classes for that purpose such as message_filters/TimeSynchronizer that accepts two topics and invokes callbacks with messages with equal (or similar, depending on the chosen synchronizer) timestamps.
I'd like to know if there's something similar in rosbridge_suite/roslibjs/roslibpy?
Cheers
It might be beneficial if you could clarify what you mean by "synchronize topics"?
Of course! Done
I'm not aware of any direct support, but
message_filtersis a relatively small amount of Python (source) with relatively limited use ofrospy.You may be able to just take it and replace
rospyentities with their equivalents fromroslibpy.I've come up with a very basic ApproximateTimeSynchronizer for just two topics for roslibpy. I save the previous messages of the topics and compare the respective other message's timestamp to the newly arrived message. If the delta is small enough I'll invoke a callback with them both. Very basic but does its job for me.
It would be nice if you could either post the result here as an answer or link to a repository that contains it.
Edit: or perhaps contribute it to
roslibpyitself.Sure will. Just gimme some time to clean up the code.