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Subscribe to a topic and trigger two Callback functions

asked 2012-06-06 06:07:52 -0500

ajr_ gravatar image

updated 2012-06-09 12:56:57 -0500

Hi,

I want to trigger two Callback functions by same message data. And to be able to execute Callbacks at the same rate as publication happens. At the moment I have it with following initialization code. What would be the correct way to do it?

ImuSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::mikoImuCallback, this);

HeightSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::heightCallback, this);

The goal is to call two different Callbacks as far as i understood. I want the published message data into two different functions and they to be executed when ever new data is available from publisher.

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Are you trying to call the same callback two times or to call two different callbacks?

DimitriProsser gravatar imageDimitriProsser ( 2012-06-06 07:39:45 -0500 )edit

I modified the question a bit, hope it's more clear now

ajr_ gravatar imageajr_ ( 2012-06-06 07:49:20 -0500 )edit

Interesting questions... hope to see some answers from pros.. :)

karthik gravatar imagekarthik ( 2012-06-06 08:20:03 -0500 )edit
1

You still seem to be providing the same function in both callbacks. Additionally, I don't fully understand why you need multiple callbacks. Is there a reason you cannot call multiple functions with the message data from a single callback?

piyushk gravatar imagepiyushk ( 2012-06-06 08:31:44 -0500 )edit

No special reason, basically were wondering about if there are some sophisticated ways to do this with ROS. Thanks for the answers!

ajr_ gravatar imageajr_ ( 2012-06-06 13:41:02 -0500 )edit

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answered 2012-06-06 09:21:56 -0500

DimitriProsser gravatar image

The simplest solution to do what you're trying to do is to simply call two functions within a "generic" callback function:

ImuSubscriber = nh.subscribe ("/mikrokopter/fc_debug", 100, &MikrokopterControl::genericCallback, this);

...

void MikrokopterControl::genericCallback(const sensor_msgs::IMU& data)
{
    function1(data);
    function2(data);
}
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Asked: 2012-06-06 06:07:52 -0500

Seen: 762 times

Last updated: Jun 09 '12