Combining Approximate and Exact Time Synchronization Policies with message_filters
Is there a way to use both Approximate and Exact Time Synchronization policies together in a node?
Specifically, I have 3 topics - let's call them /a
, /b
and /c
, carrying messages of types A
, B
and C
respectively. I want /a
, /b
to be synchronized using message_filters::sync_policies::ApproximateTime<A, B>
policy. And I want /b
and /c
to be synchronized using message_filters::TimeSynchronizer<B, C>
. Basically, I expect A
and B
type messages to have approximately the same timestamps, but I know that B
and C
will definitely use the same timestamps, and I want to be certain that I'm accidentally not using C
whose timestamp is not matching with B
's. Is there a way to set this up with message_filters
, or another way to solve this problem? Any help is appreciated! Thank you.