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Executing two callbacks of two subscribers parallelly. How?

asked 2019-03-22 16:01:30 -0500

JeyP4 gravatar image

updated 2019-03-22 16:02:50 -0500

If one sub1.callback is on execution and meanwhile msg arrives on other sub2. I want to process sub2.callback parallely. Is it possible? How?

ros::Subscriber image_sub= nh.subscribe("/rgb, 2, &class::imCallback, &class);
ros::Subscriber depth_sub= nh.subscribe("/depth", 2, &class::depthCallback, &class);

I read many posts on callback queues, MultiThreadedSpinner, boost. I am confused which way is good for my application !!

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answered 2019-03-22 16:58:13 -0500

ahendrix gravatar image

Use ros::MultiThreadedSpinner : http://wiki.ros.org/roscpp/Overview/C... to execute multiple callbacks in parallel.

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Thanks @ahendrix So, seperate callback queues for each subscriber is not required?

JeyP4 gravatar imageJeyP4 ( 2019-03-22 17:55:35 -0500 )edit

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Asked: 2019-03-22 16:01:30 -0500

Seen: 28 times

Last updated: Mar 22