Callback function is not called
Hello, I am trying to subscribed with two different synchronized topics. So I've written a python program to do that. It compile without any errors. But the callback functions is not called.
Thanks Ali
#!/usr/bin/env python
import graphlab
import rospy
from geometry_msgs.msg import WrenchStamped
import message_filters
from sensor_msgs.msg import JointState
class Node:
def __init__(self):
self.fx_model=graphlab.load_model('src/ft_comp/scripts/models/Fx_model_joints_lr')
print 'models loading...'
self.fy_model=graphlab.load_model('src/ft_comp/scripts/models/Fy_model_joints_lr')
self.fz_model=graphlab.load_model('src/ft_comp/scripts/models/Fz_model_joints_lr')
self.Tx_model=graphlab.load_model('src/ft_comp/scripts/models/Tx_model_joints_lr')
self.Ty_model=graphlab.load_model('src/ft_comp/scripts/models/Ty_model_joints_lr')
self.Tz_model=graphlab.load_model('src/ft_comp/scripts/models/Tz_model_joints_lr')
self.Wrench_msg_sub=message_filters.Subscriber("ft_msgs_sync",WrenchStamped)
self.Joint_msg_sub=message_filters.Subscriber("joint_states_sync", JointState)
self.ts = message_filters.TimeSynchronizer([self.Wrench_msg_sub,self.Joint_msg_sub], 10)
self.ts.registerCallback(self.callback)
print 'models loading ...'
def callback(self,ft_msgs_sync,joint_states_sync):
print 'in callback function'
Rostime=[]
Rostime.append(ft_msgs_sync.rostime)
force_array=[]
for i in range(0,3):
if i==0:
force_array.append(ft_msgs_sync.wrench.force.x)
if i==1:
force_array.append(ft_msgs_sync.wrench.force.y)
if i==2:
force_array.append(ft_msgs_sync.wrench.force.z)
joints_array=[]
for i in range(0,2):
if i==0:
#joint_s
joints_array.append(joint_states_sync[0])
if i==1:
#joint_l
joints_array.append(joint_states_sync[1])
if i==2:
#joint_e
joints_array.append(joint_states_sync[2])
print 'hello'
def listener():
rospy.init_node('listener', anonymous=True)
Nh=Node()
rospy.spin()
if __name__ == '__main__':
listener()