Set SubscribeOptions for message_filter

asked 2021-03-28 22:56:05 -0500

Rufus gravatar image

I am trying to enable multithreaded callback processing on my ApproximateTime Synchronizer.

According to this amazing post, in order to enable multithreaded callbacks, on top of using a MultiThreadedSpinner, I also need the following

ros::SubscribeOptions ops;
ops.template init<std_msgs::String>("chatter", 1000, chatterCallback);
ops.allow_concurrent_callbacks = true;
ros::Subscriber sub = nh.subscribe(ops);

How do I do this for message_filter types? message_filter::Subscriber does not take any SubscribeOptions argument

edit retag flag offensive close merge delete