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ApproximateTime not working with nodelets

asked 2020-03-13 10:37:40 -0500

Myzhar gravatar image

Hi, I have a nodelet that publishes a few topics and another nodelet that subscribes the topics and republishes a custom topic with all the synchronized messages.

If I start the two nodelets in two separate nodelet managers everything works as expected, if I use a single nodelet manager that loads both the nodelets the subscriber receives only a few messages than stops.

I'm using the ApproximateTime policy.

The topics run at different frequencies: 400Hz, 15Hz and 50Hz.

Any idea about the cause of the problem and about how to debug to find a possible cause?

Thank you Walter

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Please do not close questions when you've actually anwered them.

Just click the checkmark to the left of the answer. That will provide a much clearer indication the question has been answered.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-16 03:38:49 -0500 )edit

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answered 2020-03-16 03:37:12 -0500

Myzhar gravatar image

I found the solution to the problem.

I was wrongly not creating a new message before each publishing.

In my particular case I had an IMU message to be synchronized with camera images and I was creating the message once in the OnInit function. Instead we must create each single shared pointer message just before publishing it: sensor_msgs::ImuPtr imuMsg(new sensor_msgs::Imu);

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Asked: 2020-03-13 10:37:40 -0500

Seen: 187 times

Last updated: Mar 16 '20