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Answer (should work with regular messages as well):
SubscriberFilter leftsub = leftsub(it, "/multisense_sl/camera/left/image_raw", 1);
SubscriberFilter rightsub = rightsub(it, "/multisense_sl/camera/right/image_raw", 1);
TimeSynchronizer<Image, Image> sync(leftsub, rightsub, 10);
sync.registerCallback(boost::bind(&imagesub::callback, this, _1, _2));
void imagesub::callback(const ImageConstPtr& left, const ImageConstPtr& right) {
}
You can easily do that by creating multiple subscribers or a vector of subscribers and make all of them point at same callback function.
sicklms_subs = new ros::Subscriber[no_of_ugv];
for(int i = 0; i < no_of_ugv; i++)
{
ss.seekp(0);
ss << "/sicklms" << i << "/scan";
sicklms_subs[i] = nh.subscribe(ss.str(), 100, &mapper_direct::laserCallback, this);
}
That works. But is it possible to accept multiple different topics of the same type in a single callback function?
yeah it is possible to that. Every element of vector can be subscribed to a different message name and still can have same callback function. I hope this is what ur asking..
It seems like I phrased my original question incorrectly, apologies for that. What I meant was, say I have to two subscribed topics, A and B. I want to process both A and B in a single callback function at the same time, for example A+B. Just wondering if that's possible.
I think its not possible to do that...ROS does not provide a direct functionality for it so u have to write ur callback function in a way that provides you this functionality.
Yeah I'm trying to figure that out. Thanks anyways :)
Based on your comments you're looking for getting paired messages on two topics. The recommended way to do this is using message_filters Not knowing your use case exactly I would venture a guess that the ApproximateTime Syncronizer is what you want.
Asked: 2013-02-24 14:16:55 -0600
Seen: 2,939 times
Last updated: Mar 03 '13
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