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While using message_filters to do the time synchronization,but it cannot enter into the callback function

asked 2016-08-18 21:39:48 -0600

Yuxi gravatar image

updated 2016-08-25 13:26:24 -0600

I am using sync_policies::ApproximateTime in message_filter to do the PointCloud2 and LaserScan time synchronization, but the problem is it cannot enter into the callback function ofsync.registerCallback(boost::bind(&Message_Filter::callback, this, _1, _2));. At first, I think that it is because the publishing frequency of the two topics are different which make the code cannot enter into the callback function, but when I write another publish node which publishes two topic almost at the same time, it still not work, so I really don't know where the problem is. Does anyone knows about this? Thanks a lot.

Here is my codes:

#include "message_filter_node.h"
Message_Filter::Message_Filter()
{
message_filters::Subscriber<sensor_msgs::PointCloud2> Velodyne_sub(nh, "/velodyne_points", 1);
message_filters::Subscriber<sensor_msgs::LaserScan> Hokuyo_sub(nh,"/scan" , 1);

typedef sync_policies::ApproximateTime<PointCloud2, LaserScan> MySyncPolicy;
// ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
Synchronizer<MySyncPolicy> sync(MySyncPolicy(100), Velodyne_sub, Hokuyo_sub);
sync.registerCallback(boost::bind(&Message_Filter::callback, this, _1, _2));

Velodyne_pub=nh.advertise<PointCloud2>("message_filter/velodyne_points",1);
Hokuyo_pub=nh.advertise<LaserScan>("message_filter/scan",1);
}
void Message_Filter::callback(const PointCloud2::ConstPtr& point_cloud2, const LaserScan::ConstPtr& laser_scan)
{
ROS_ERROR("Enter Publish");
Velodyne_pub.publish(point_cloud2);
Hokuyo_pub.publish(laser_scan);
}

Here is my header file:

#ifndef MESSAGE_FILTER_NODE_H
#define MESSAGE_FILTER_NODE_H
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include "image_transport/image_transport.h"
using namespace sensor_msgs;
using namespace message_filters;

class Message_Filter
{
public:
    Message_Filter();
    void callback(const PointCloud2::ConstPtr& point_cloud2, const LaserScan::ConstPtr& laser_scan);
public:
    ros::Publisher Velodyne_pub;
    ros::Publisher Hokuyo_pub;
    ros::NodeHandle nh;
};

#endif // MESSAGE_FILTER_NODE_H

Thanks Dimitri Schachmann , the problem was solved. And my codes are:

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include "image_transport/image_transport.h"
#include "ros/ros.h"
//ros::Publisher Velodyne_pub;
void callback(const sensor_msgs:: PointCloud2::ConstPtr& point_cloud2, const 
sensor_msgs::LaserScan::ConstPtr& laser_scan)
{
    ROS_ERROR("Enter Publish");
   // Velodyne_pub.publish(point_cloud2);
  //  Hokuyo_pub.publish(laser_scan);
}
int main(int argc, char** argv)
{
  ros::init(argc, argv, "message_filter_node");
  ros::Time::init();
  ros::NodeHandle nh;
  ROS_INFO("start message filter");
  message_filters::Subscriber<sensor_msgs::PointCloud2> Velodyne_sub(nh, "/velodyne_points", 1);
  message_filters::Subscriber<sensor_msgs::LaserScan> Hokuyo_sub(nh,"/scan" , 1);
  typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::PointCloud2,  
  sensor_msgs::LaserScan> MySyncPolicy;
  // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
  message_filters::Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), Velodyne_sub, Hokuyo_sub);
  sync.registerCallback(boost::bind(&callback, _1, _2));

  ros::spin();
  return 0;
}
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1 Answer

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answered 2016-08-19 02:31:16 -0600

Dimitri Schachmann gravatar image

updated 2016-08-19 02:31:53 -0600

My guess would be, that it's because your subscribers are local variables and are destructed when Message_Filter::Message_Filter() returns. Try making your subscribers and your synchronizer member variables of your class.

It also depends on how your main(...) looks like, but there you also need to make sure your Message_Filter object does not go out of scope, but I suppose you have that already by blocking inros::spin()

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Comments

Thank you very much.!You are right. And I wrote the codes in main function and it works.

Yuxi gravatar imageYuxi ( 2016-08-25 13:13:04 -0600 )edit

The question is... how should we make this a class...

tanasis gravatar imagetanasis ( 2017-06-13 08:55:33 -0600 )edit
1

Just make a normal C++ class. This is not ROS specific then.

Dimitri Schachmann gravatar imageDimitri Schachmann ( 2017-06-13 09:15:43 -0600 )edit

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Asked: 2016-08-18 21:39:48 -0600

Seen: 1,576 times

Last updated: Aug 25 '16