ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org
Ask Your Question
0

ROS2 message filter approximate time policy callback doesn't run

asked 2020-08-16 12:10:31 -0600

updated 2020-08-20 11:09:01 -0600

I am trying to sync two message streams of 2 image topics. So I am using message filters. I was using a class to do all this, however, the callback doesnt seem to be running. I have echoed the rostopics in the terminal and they seem to be outputting the messages. What could be happening here?

What is allowed time delay in the approximate policy in receiving the two topic streams(I atleast have topics matching every second right now)?

I guess I may be doing something wrong there. (Things do work if i create two different subscribers with their own callbacks)

This is my code-

   class MultiSubscriber : public rclcpp::Node
    {
      public:
      message_filters::Subscriber<sensor_msgs::msg::Image> image_sub_;
          message_filters::Subscriber<sensor_msgs::msg::Image> disparity_sub_;              
        MultiSubscriber(const std::string& name)
        : Node(name)
        {
          image_sub_.subscribe(this, "/image_color");
          disparity_sub_.subscribe(this, "/image_disparity");
          typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image> approximate_policy;
          message_filters::Synchronizer<approximate_policy>syncApproximate(approximate_policy(10), image_sub_, disparity_sub_);
             syncApproximate.setMaxIntervalDuration(rclcpp::Duration(3,0)); // Added after a comment
          syncApproximate.registerCallback(&MultiSubscriber::disparityCb,this);

        }
        private:
        void disparityCb(const sensor_msgs::msg::Image::SharedPtr disparity_msg, const sensor_msgs::msg::Image::SharedPtr color_msg)
        {

            std::cout<<"Hello messages are being received";

        }};

Just to add to this. This is the output of -

ros2 node info /obstacle_detection

/obstacle_detection
  Subscribers:
    /image_disparity: sensor_msgs/msg/Image
    /image_color: sensor_msgs/msg/Image
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /obstacle_detection/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /obstacle_detection/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /obstacle_detection/get_parameters: rcl_interfaces/srv/GetParameters
    /obstacle_detection/list_parameters: rcl_interfaces/srv/ListParameters
    /obstacle_detection/set_parameters: rcl_interfaces/srv/SetParameters
    /obstacle_detection/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

Edit- Error Message on changing the registerCallback call to syncApproximate.registerCallback(std::bind (&MultiSubscriber::disparityCb, this,_1,_2)); image description

Edit 2- This github issue shows how the registercallback is to be called.

edit retag flag offensive close merge delete

Comments

I am assuming that the headers for each image message has been populated correctly. Try outputting the stamps msg->header.stamp.sec and msg->header.stamp.nsec from each message to debug if the times are syncing.

surfertas gravatar image surfertas  ( 2020-08-16 17:31:45 -0600 )edit

Also try using ros2 topic info <TOPIC> for each topic, and confirm that you observe expected values for Publisher count and Subscriber count.

surfertas gravatar image surfertas  ( 2020-08-16 17:38:21 -0600 )edit

2 Answers

Sort by » oldest newest most voted
2

answered 2020-08-17 00:22:39 -0600

updated 2020-08-20 09:34:48 -0600

First, check if the signature of the callback is correct. (e.g. void callback(const std::shared_ptr<M const>&, const std::shared_ptr<M const>&) for 2 filters). If yes, proceed below.

  1. Check if the Quality of Service (QoS) is compatible between the subscriber and publisher. You can specify a QoS by passing a rmw quality of service profile.

  2. Use ros2 topic info <TOPIC> to confirm the expected number of publisher count and subscriber count.

If you are still having issues, you might be facing time stamps that doesn't meet the duration threshold.

  1. Output the time stamps to visually compare.

  2. Adjust the duration threshold by calling the method setMaxIntervalDuration() that takes as input a rclcpp::Duration() representation of time. (e.g. sync_policy.setMaxIntervalDuration(rclcpp::Duration(1,0)))

edit flag offensive delete link more

Comments

Thanks for such an informative answer.

  1. ros2 topic info results seem to be correct. (When I start the node, the topics' subscriber count does increase.)

  2. Output time stamps visually I see both images coming in at least a second.

  3. I used this function and set the duration to be 3 seconds (syncApproximate.setMaxIntervalDuration(rclcpp::Duration(3,0));)

    I don't know how to check the compatibility between the publisher and subscriber . Btw I am using a bagfile (which publishes the messages, I am trying to subscribe to )

Harsh2308 gravatar image Harsh2308  ( 2020-08-20 02:01:18 -0600 )edit

Ok assuming everything compiles, seems like there might be QoS compatibility issue. Its recommended to use rmw_qos_profile_sensor_data with image topics, so it's possible that the creator of the bag file has used the sensor data profile.

Can you pass the QoS profile to the call to subscribe()?

.subscribe(this, "/some_topic", rmw_qos_profile_sensor_data);

surfertas gravatar image surfertas  ( 2020-08-20 07:32:38 -0600 )edit

Also as @KenYN has mentioned, my signature is consistent with his suggestion. Did you try that as well?

surfertas gravatar image surfertas  ( 2020-08-20 07:36:05 -0600 )edit
  1. Modified to this but no change.

image_sub_.subscribe(this, "/image_color",rmw_qos_profile_sensor_data)disparity_sub_.subscribe(this, "/image_disparity", rmw_qos_profile_sensor_data);


2. syncApproximate.registerCallback(std::bind (&MultiSubscriber::disparityCb, this,_1,_2_)); is giving a compilation error. My callback signature is same as in the answer.

There is a huge error

Harsh2308 gravatar image Harsh2308  ( 2020-08-20 09:03:29 -0600 )edit

error: no matching function for call to ‘message_filters::Signal9<sensor_msgs::msg::image_<std::allocator<void> >, sensor_msgs::msg::Image_<std::allocator<void> >, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType>::addCallback<const m0constptr&amp;,="" const="" m1constptr&amp;,="" const="" m2constptr&amp;,="" const="" m3constptr&amp;,="" const="" m4constptr&amp;,="" const="" m5constptr&amp;,="" const="" m6constptr&amp;,="" const="" m7constptr&amp;,="" const="" m8constptr&amp;&gt;(std::_bind_helper<false,="" const="" std::_bind<void="" (multisensesubscriber::*(multisensesubscriber*,="" std::_placeholder&lt;1="">, std::_Placeholder<2>))(std::shared_ptr<sensor_msgs::msg::image_<std::allocator<void> > >, std::shared_ptr<sensor_msgs::msg::image_<std::allocator<void> > >)>&, const std::_Placeholder<1>&, const std::_Placeholder<2>&, const std::_Placeholder<3>&, const std::_Placeholder<4>&, const std::_Placeholder<5>&, const std::_Placeholder<6>&, const std::_

Harsh2308 gravatar image Harsh2308  ( 2020-08-20 09:22:24 -0600 )edit

The callback needs to be of signature void callback(const std::shared_ptr<M const>&) as detailed here

Change this void disparityCb(const sensor_msgs::msg::Image::SharedPtr disparity_msg, const sensor_msgs::msg::Image::SharedPtr color_msg)

to

void disparityCb(const sensor_msgs::ImageConstPtr disparity_msg, const sensor_msgs::ImageConstPtr & color_msg)

surfertas gravatar image surfertas  ( 2020-08-20 09:26:27 -0600 )edit

I will leave this stack overflow discussion on differences for reference.

surfertas gravatar image surfertas  ( 2020-08-20 09:31:46 -0600 )edit

I have added the relevant part of the error message in the answer. I had to change the callback to -

void MultiSenseSubscriber::disparityCb(const boost::shared_ptr<sensor_msgs::msg::Image const>& disparity_msg, const boost::shared_ptr<sensor_msgs::msg::Image const> & color_msg)
Harsh2308 gravatar image Harsh2308  ( 2020-08-20 10:22:22 -0600 )edit
0

answered 2020-08-17 01:13:02 -0600

KenYN gravatar image

I think your registerCallback() looks odd; this is what I use on Foxy:

  syncApproximate.registerCallback(std::bind(&MultiSubscriber::disparityCb,
                                             this,
                                             std::placeholders::_1,
                                             std::placeholders::_2));

Also, my callback uses ConstSharedPtr, but the compiler should catch a mismatch.

edit flag offensive delete link more

Comments

Could you share how your callback looks like?

Harsh2308 gravatar image Harsh2308  ( 2020-08-20 01:24:53 -0600 )edit

I looked at this issue for the way the registerCallback is to be called

Harsh2308 gravatar image Harsh2308  ( 2020-08-20 11:04:57 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2020-08-16 12:10:31 -0600

Seen: 1,872 times

Last updated: Aug 20 '20