Python 的 message_filters 基于C++封装。目前只封装了大约时间对齐策略。 在chapt10_ws/src 工作空间下,新建 learn_message_filter_py 功能包。在src/learn_message_filter_py/learn_message_filter_py/ 下,新建 timesync_test.py。 import rclpy from rclpy.node import Node from sensor_msgs.msg import Imu ...
1: -- run_test.py: inject classname prefix into gtest result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_simple.gtest.xml' 1: -- run_test.py: verify result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/m...
/usr/bin/env python3importrclpyfromrclpy.nodeimportNodeimportmessage_filtersfromstd_msgs.msgimportString,Float32,Int32importmessage_filtersfromsensor_msgs.msgimportImage, CameraInfodefcallback(image_sub,info_sub): res=int(info_sub.data)-int(image_sub.data)print("publisher1:\t{}\tpubsher2:\t{}...
info_sub = message_filters.Subscriber(scribe_node, Int32,'command2') ts = message_filters.ApproximateTimeSynchronizer([image_sub, info_sub], 10, 0.1, allow_headerless=True) # allow_headerless=True,可以不使用时间戳 # ts = message_filters.TimeSynchronizer([image_sub, info_sub], 10) # 这...
message_filters::Subscriber<yolov5_ros_msgs::BoundingBoxes> detect_sub(nh, "/yolov5/BoundingBoxes", 1); message_filters::Subscriber<sensor_msgs::Image> image_sub(nh, "/stereo_publisher/stereo/depth", 1); message_filters::Subscriber<sensor_msgs::CameraInfo> caminfo_sub(nh, "/stereo_publishe...
Python: N separate filters, each of which has signaturecallback(msg). Output : C++: For message types M0..M8,void callback(const std::shared_ptr<M0 const>&, ...,const std::shared_ptr<M8 const>&). The number of parameters is determined by the number of template arguments the class...
message_filters是ROS2中用于时间同步的工具,它类似于一个消息缓存,可以订阅不同的传感器topic,并在满足一定条件后输出同步后的消息。message_filters提供了ApproximateTimeSynchronizer类,用于实现近似时间同步。 示例代码 以下是一个使用ApproximateTimeSynchronizer进行时间同步的示例代码: python import rclpy from rclpy.node...
ros2 pkg create --dependencies rclcpp sensor_msgs message_filters --build-type ament_cmake --license Apache-2.0 --node-name radar_node mtuav-sns-radar-ros2 和不指定依赖相比,文件变动如下: mtuav-sns-radar-ros2/package.xml mtuav-sns-radar-ros2/CMakeLists.txt ...
Costmap_2d Filters之间的关系图如下: Costmap_2d Filters的运行机制如下图所示: CostmapFilterInfoServer负责加载一些参数发布给filter。MapServer主要是加载地图文件并发布给filter。 你可能发现了。Filter正是利用地图文件来获取区域信息的。而这些地图文件是可以自己定义的。比如你将原来地图文件的某些部分涂黑,那么这些黑...
message_filters nav_msgs pendulum_msgs pluginlib python_cmake_module quality_of_service_demo_cpp quality_of_service_demo_py rcl_lifecycle rclcpp rclcpp_action rclcpp_components rclcpp_lifecycle rclpy rcpputils resource_retriever rmw rmw_fastrtps_cpp rmw_implementation_cmake robot_state_publisher ros2...