How to subscribe to two images (ROS 2 and C++)

dashing

asked 2020-08-27 21:12:13 -0600

mirella melo
194 ●11 ●20 ●21

updated 2020-08-27 21:16:44 -0600

Hi.

I'm trying to use message_filters package (I also tried with image_transport...) to subscribe to two images. I couldn't understand the usage for ROS 2, but I found this short example for ROS 1. So, what changes do I need to do in this code to have it running in ROS 2?

Thanks in advance.

  using namespace sensor_msgs;
  using namespace message_filters;

  void callback(const ImageConstPtr& image, const ImageConstPtr& cam_info)
  {
       // Callback function...
  }

  int main(int argc, char** argv)
  {
         ros::init(argc, argv, "vision_node");
         ros::NodeHandle nh;

         message_filters::Subscriber<Image> image_1(nh, "image_1", 1);
         message_filters::Subscriber<Image> image_2(nh, "image_2", 1);
         TimeSynchronizer<Image, Image> sync(image_sub, info_sub, 10);
         sync.registerCallback(boost::bind(&callback, _1, _2));

        ros::spin();

        return 0;
  }

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#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; }

How to subscribe to two images (ROS 2 and C++)

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