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answered 2014-07-12 22:54:03 -0600

sai gravatar image

I think that you forgot to add the header files

    #include <message_filters/subscriber.h>
    #include <message_filters/time_synchronizer.h>
    #include <message_filters/synchronizer.h>
    #include <message_filters/sync_policies/approximate_time.h>

Ok...

Here is the code that is working for me...and I hope that it will come for you.

Add these lines in CMakeLists.txt

FIND_PACKAGE(PCL 1.5)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(test_file src/test_file.cpp)
rosbuild_link_boost(test_file signals)
target_link_libraries(test_file ${PCL_LIBRARIES} ${BOOST_LIBRARIES})

I dont think that you forgot there is need to add the header filesPCL..Just added to test if my file is working here...

Next in create a new package and try this thing..

 /*********************************   Header Files   ***************************/   

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

// PCL specific includes

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>


#include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.h>
  #include <message_filters/synchronizer.h>
 #include <message_filters/sync_policies/approximate_time.h>



 /************************************   End of Header Files   **************************/

    using namespace sensor_msgs;
    using namespace message_filters;


    ros::Publisher pub_sub1_sub2;


    void cloud_cb ( const sensor_msgs::PointCloud2ConstPtr& sub2_input,  
                   const sensor_msgs::PointCloud2ConstPtr& sub1_input)
 {

  //processing
     std::cout<< " I am here! " <<std::endl;



      pub_sub1_sub2.publish (*sub2_input);

 }


         int main (int argc, char** argv)
    {
              // Initialize ROS
              ros::init (argc, argv, "testing");
              ros::NodeHandle nh;
              ROS_INFO("Starting ");

              message_filters::Subscriber<sensor_msgs::PointCloud2> sub2(nh, "topic1", 5);
              message_filters::Subscriber<sensor_msgs::PointCloud2> sub1(nh, "topic2", 5);

typedef sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> MySyncPolicy;

      // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
              Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), sub2, sub1);
              sync.registerCallback(boost::bind(&cloud_cb, _1, _2));


              pub_sub1_sub2 = nh.advertise<sensor_msgs::PointCloud2> ("/cloud", 1); 

              // Spin
              ros::spin ();

               return 0;

       }

Ok...

Here is the code that is working for me...and I hope that it will come for you.

Add these lines in CMakeLists.txt

FIND_PACKAGE(PCL 1.5)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(test_file src/test_file.cpp)
rosbuild_link_boost(test_file signals)
target_link_libraries(test_file ${PCL_LIBRARIES} ${BOOST_LIBRARIES})

I dont think that there is need to add PCL..Just added to test if my file is working here...

Next in create a new package and try this thing..

    /*********************************   Header Files   ***************************/   

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

// PCL specific includes

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>


#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>



 /************************************   End of Header Files   **************************/

    using namespace sensor_msgs;
    using namespace message_filters;


    ros::Publisher pub_sub1_sub2;


    void cloud_cb ( const sensor_msgs::PointCloud2ConstPtr& sub2_input,  
                   const sensor_msgs::PointCloud2ConstPtr& sub1_input)
 {

  //processing
     std::cout<< " I am here! " <<std::endl;



      pub_sub1_sub2.publish (*sub2_input);

 }


         int main (int argc, char** argv)
    {
              // Initialize ROS
              ros::init (argc, argv, "testing");
              ros::NodeHandle nh;
              ROS_INFO("Starting ");

              message_filters::Subscriber<sensor_msgs::PointCloud2> sub2(nh, "topic1", 5);
              message_filters::Subscriber<sensor_msgs::PointCloud2> sub1(nh, "topic2", 5);

typedef sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> MySyncPolicy;

      // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
              Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), sub2, sub1);
              sync.registerCallback(boost::bind(&cloud_cb, _1, _2));


              pub_sub1_sub2 = nh.advertise<sensor_msgs::PointCloud2> ("/cloud", 1); 

              // Spin
              ros::spin ();

               return 0;

       }

Ok...

Here is the code that is working for me...and I hope that it will come for you.

Add these lines in CMakeLists.txt

FIND_PACKAGE(PCL 1.5)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(test_file src/test_file.cpp)
rosbuild_link_boost(test_file signals)
target_link_libraries(test_file ${PCL_LIBRARIES} ${BOOST_LIBRARIES})

I dont think that there is need to add PCL..Just added to test if my file is working here...

Next in create a new package and try this thing..

    /*********************************   Header Files   ***************************/   

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

// PCL specific includes

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>


#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>



 /************************************   End of Header Files   **************************/

    using namespace sensor_msgs;
    using namespace message_filters;


    ros::Publisher pub_sub1_sub2;


    void cloud_cb ( const sensor_msgs::PointCloud2ConstPtr& sub2_input,  
                   const sensor_msgs::PointCloud2ConstPtr& sub1_input)
 {

  //processing
     std::cout<< " I am here! " <<std::endl;



      pub_sub1_sub2.publish (*sub2_input);

 }


         int main (int argc, char** argv)
    {
              // Initialize ROS
              ros::init (argc, argv, "testing");
              ros::NodeHandle nh;
              ROS_INFO("Starting ");

              message_filters::Subscriber<sensor_msgs::PointCloud2> sub2(nh, "topic1", 5);
              message_filters::Subscriber<sensor_msgs::PointCloud2> sub1(nh, "topic2", 5);

typedef sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> MySyncPolicy;

      // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
              Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), sub2, sub1);
              sync.registerCallback(boost::bind(&cloud_cb, _1, _2));


              pub_sub1_sub2 = nh.advertise<sensor_msgs::PointCloud2> ("/cloud", 1); 

              // Spin
              ros::spin ();

               return 0;

       }

UPDATE

Two suggestions to try.

  1. i think you have to declare it in a different way, try something like this in declaring subscribers." message_filters::Subscriber<std_msgs::Float32<std::allocator<void> > > sub1

  2. Look at this http://wiki.ros.org/roscpp/Overview/MessagesCustomAllocators

Ok...

Here is the code that is working for me...and I hope that it will come for you.

Add these lines in CMakeLists.txt

FIND_PACKAGE(PCL 1.5)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

rosbuild_add_executable(test_file src/test_file.cpp)
rosbuild_link_boost(test_file signals)
target_link_libraries(test_file ${PCL_LIBRARIES} ${BOOST_LIBRARIES})

I dont think that there is need to add PCL..Just added to test if my file is working here...

Next in create a new package and try this thing..

    /*********************************   Header Files   ***************************/   

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

// PCL specific includes

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>

 #include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>

#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
 
 /************************************   End of Header Files   **************************/

    using namespace sensor_msgs;
    using namespace message_filters;

     ros::Publisher pub_sub1_sub2;
 
    void cloud_cb ( const sensor_msgs::PointCloud2ConstPtr& sub2_input,  
                   const sensor_msgs::PointCloud2ConstPtr& sub1_input)
 {
    //processing
     std::cout<< " I am here! " <<std::endl;
       pub_sub1_sub2.publish (*sub2_input);

 }


         int main (int argc, char** argv)
    {
              // Initialize ROS
              ros::init (argc, argv, "testing");
              ros::NodeHandle nh;
              ROS_INFO("Starting ");

              message_filters::Subscriber<sensor_msgs::PointCloud2> sub2(nh, "topic1", 5);
              message_filters::Subscriber<sensor_msgs::PointCloud2> sub1(nh, "topic2", 5);

typedef sync_policies::ApproximateTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> MySyncPolicy;

      // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
              Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), sub2, sub1);
              sync.registerCallback(boost::bind(&cloud_cb, _1, _2));
                pub_sub1_sub2 = nh.advertise<sensor_msgs::PointCloud2> ("/cloud", 1);  

              // Spin
              ros::spin ();
                return 0;

       }

UPDATE

Two suggestions to try.

  1. i think you have to declare it in a different way, try something like this in declaring subscribers." message_filters::Subscriber<std_msgs::Float32<std::allocator<void> > > sub1

  2. Look at this http://wiki.ros.org/roscpp/Overview/MessagesCustomAllocators

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