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I try to use message_filters to fuse the pointclouds, and output one topic. But it seems like message_filters's callback function need all topics are published, otherwise it doesn't callback. But sometimes I would like to close some sensors and stop to publishing. How to solve this problem?
The idea behind message_filters is that it only invokes callbacks when it has messages in its queues for all subscriptions and those messages make the associated predicates true (ie: for an ApproximateTimeSynchronizer all stamps fall within a certain range of time).
Your callbacks not getting called when one of the datastreams is no longer carrying messages would seem to be expected (and desired) behaviour.
Perhaps message_filters is not the best approach for your use-case: if you could describe what you're trying to do with a little more detail, perhaps we can suggest an alternative.
Edit: you could perhaps implement your own filter that behaves like you describe, using the infrastructure of message_filters. And perhaps take a look at fkie_message_filters, which offers some additional / alternative functionality.
@gvdhoorn Thanks for the suggestion. I understand that how the API working. I'm trying to merge two Lidars signal into one pointcloud, but I need single data of Lidar in some scenarios. My original plan is that if I close one of the Lidars, I can get other Lidar's data without additional steps.
I will try fkie_message_filters. If it doesn't work I will try to assign name of updating topic in the command line. Thanks.
You could consider writing a time-synchroniser filter that always calls registered callbacks, but uses old msgs it has cached for the subscriptions that have not published any msgs in a certain amount of time.
Perhaps fkie_message_filters makes this easier. I don't know.
Asked: 2019-01-25 02:22:02 -0500
Seen: 258 times
Last updated: Jan 25 '19
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