Set SubscribeOptions for message_filter
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