Hi there, I tried to use message_filters in order to synchronize a tfMessage and an Image messages in code like this:
message_filters::Subscriber<Image> image_sub; message_filters::Subscriber<tf::tfMessage> tf_sub; tf_sub.subscribe(nh_, "/tf", 1); image_sub.subscribe(nh_, "image", 1); TimeSynchronizer <Image, tf::tfMessage> sync(image_sub, tf_sub, 10);
Unfortunately it turns out that the compilation fails because the tfMessage has no Header block. Here is the error message: """ /opt/ros/diamondback/stacks/ros_comm/utilities/message_filters/include/message_filters/sync_policies/exact_time.h:126: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp<tf::tfmessage_<std::allocator<void> >, void>’ """
Would anyone know of an alternative to what I am trying to achieve above? Does tf_listener maybe support an option of returning the whole TF tree (tfMessage)?
thx and best, D.