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Synchronizing 2 topics and adding a third topic

asked 2015-08-25 10:12:36 -0500

pnambiar gravatar image

updated 2015-08-25 10:14:38 -0500

I managed to synchronize the depth and the color data of a Kinect sensor using the Approximate Time Synchronizer. Now I would like to add a new topic from another sensor (microphone- using pocketsphinx) to the callback

from std_msgs.msg import String
self.speech_sub = rospy.Subscriber("/recognizer/output", String)

How do I do that?

 class image_converter:

  def __init__(self):
    print 'show window'
    cv2.namedWindow("Image window", 1)
    print 'start bridge and subscribe'
    self.bridge = CvBridge()
    self.depth_sub = message_filters.Subscriber("/camera/depth_registered/image_raw",Image)
    self.image_sub = message_filters.Subscriber("/camera/rgb/image_color",Image)
    self.speech_sub = rospy.Subscriber("/recognizer/output", String) 
    ts=message_filters.ApproximateTimeSynchronizer([self.image_sub, self.depth_sub], 1,1)
    ts.registerCallback(self.callback_new)


  def callback_new(self,color):
 ......
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answered 2015-12-16 04:11:01 -0500

Yacoub gravatar image

Hi Pnambiar I am trying to do something similar. but it seems that the callback function is not called. have you manage to sort it out? Regards Ali

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Asked: 2015-08-25 10:12:36 -0500

Seen: 227 times

Last updated: Dec 16 '15