ROS message_filter ExactTime queue
Hallo community,
I want to provide only the newest combined RGBD message to a image processing nodelet. For this purpose I use the exact time synchronizer. But Im still a little bit uncertain which queue size has to be one to get only the newest combined message. Must the queue of the synchronizer be 1 or queue of the message subscribers and which size the other queue should have?
exactSyncDepth_ = new message_filters::Synchronizer<RGBDExactSyncDepthPolicy>(RGBDExactSyncDepthPolicy(syncQueueSize), imageSub_, imageDepthSub_,cameraInfoSub_);
imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), subQueueSize, hintsRgb);
imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), subQueueSize, hintsDepth);
cameraInfoSub_.subscribe(rgb_nh, "camera_info", subQueueSize)
Best,
Manuel
When you post source, you should make it as complete and minimal as possible. Including the variable declarations would have made the source you posted much easier to understand quickly.