Hi,

Not sure if it is bug with my code( probably it is ). Want some fresh pair of eyes on it.

So I am subscribing to the kinect2_bridge node with the following subscriber. subImageColorFull is a sd image topic

Some other topics are as follows.

topicC = K2TOPICSD K2TOPICIMAGECOLOR K2TOPICIMAGERECT; topicD = K2TOPICSD K2TOPICIMAGEDEPTH K2TOPICIMAGERECT; topicI = K2TOPICSD K2TOPICIMAGEIR K2TOPICIMAGERECT; topicF = K2TOPICSD K2TOPICIMAGE_COLOR ;

message_filters::Subscriber<sensor_msgs::Image>*subImageColorFull;
 subImageColorFull = new message_filters::Subscriber<sensor_msgs::Image>(nh, topicColorFull, queueSize);

then there is the async filter I am using approximate time sync policy.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::Image,
    sensor_msgs::CameraInfo, sensor_msgs::CameraInfo,sensor_msgs::Image> ApproximateSyncPolicy;
And then I define the callback as follows. 


 syncApproximate = new message_filters::Synchronizer<ApproximateSyncPolicy>(ApproximateSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subImageIr,                                                                                    *subCameraInfoColor, *subCameraInfoDepth,*subImageColorFull);

syncApproximate->registerCallback(boost::bind(&Receiver::callback, this,_1,_2,_3,_4,_5,_6));

The problem:

The callback is never serviced..

Can some one list out the possible bugs that I maybe overlooking ?

The code builds, compiles and runs needless to say.

One of my suspects was the topic name, I think it is ok, I am printing it out.

On a higher level, I am subscribing 6 topics from the kinect2bridge. I started with kinect2viewer and then built my code around it.