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Separating callback from other modules

asked 2012-04-10 20:59:14 -0500

CaptainTrunky gravatar image

updated 2012-04-10 21:20:41 -0500

Hello!

May I want something strange, but it interesting programming problem. So, I wrote class-wrapper Sensor that subscribes on topic (like /camera/image) and in callback receives data (like this->callback(Image& data), node.subscribe(..., &Sensor::callback). Data should be prepared by some filters. At this moment, filters called in callback:

void Sensor::callback(Image& data)
{
Image* newData;
newData = filter1(data);
newData = filter2(newData);
...
}

But I think it is not good. Is there way to separate them from Sensor? Something like this:

data = Sensor.getData();
data = filter1(data);
data = filter2(data);

I think that I missed simple idea of this.

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answered 2012-04-10 21:32:12 -0500

Lorenz gravatar image

Similar things have been done in ROS and other libraries already. You can either use and extend existing implementations or take them as examples on how the design could look like. Have a look at filters, pcl_ros, the pcl_ros tutorials and pcl including its tutorials.

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Comments

Thanks. Filters are exactly what I need.

CaptainTrunky gravatar imageCaptainTrunky ( 2012-04-11 05:30:50 -0500 )edit

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Asked: 2012-04-10 20:59:14 -0500

Seen: 113 times

Last updated: Apr 10 '12