Subscribe to a topic and trigger two Callback functions

asked 2012-06-06 06:07:52 -0600

97 ●8 ●11 ●18

updated 2012-06-09 12:56:57 -0600

Hi,

I want to trigger two Callback functions by same message data. And to be able to execute Callbacks at the same rate as publication happens. At the moment I have it with following initialization code. What would be the correct way to do it?

ImuSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::mikoImuCallback, this);

HeightSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::heightCallback, this);

The goal is to call two different Callbacks as far as i understood. I want the published message data into two different functions and they to be executed when ever new data is available from publisher.

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Are you trying to call the same callback two times or to call two different callbacks?

DimitriProsser ( 2012-06-06 07:39:45 -0600 )edit

I modified the question a bit, hope it's more clear now

ajr_ ( 2012-06-06 07:49:20 -0600 )edit

Interesting questions... hope to see some answers from pros.. :)

karthik ( 2012-06-06 08:20:03 -0600 )edit

You still seem to be providing the same function in both callbacks. Additionally, I don't fully understand why you need multiple callbacks. Is there a reason you cannot call multiple functions with the message data from a single callback?

piyushk ( 2012-06-06 08:31:44 -0600 )edit

No special reason, basically were wondering about if there are some sophisticated ways to do this with ROS. Thanks for the answers!

ajr_ ( 2012-06-06 13:41:02 -0600 )edit

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ImuSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::genericCallback, this); ... void MikrokopterControl::genericCallback(const sensor_msgs::IMU& data) { function1(data); function2(data); }

Subscribe to a topic and trigger two Callback functions

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Subscribe to a topic and trigger two Callback functions