Port Subscription/MessageFilter/message_filter concept

bfjelds / turtlebot2-win10

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Port Subscription/MessageFilter/message_filter concept #18

Open bfjelds opened 6 years ago

bfjelds commented 6 years ago

In ROS, this is everywhere:

point_sub_.subscribe(n_, "turtle_point_stamped", 10);
tf_filter_ = new tf::MessageFilter<geometry_msgs::PointStamped>(point_sub_, tf_, target_frame_, 10);
tf_filter_->registerCallback( boost::bind(&PoseDrawer::msgCallback, this, _1) );

message_filters::Subscriber image1_sub(nh, "image1", 1);
message_filters::Subscriber image2_sub(nh, "image2", 1);
TimeSynchronizer sync(image1_sub, image2_sub, 10);
sync.registerCallback(boost::bind(&callback, _1, _2));

bfjelds commented 6 years ago

for the pure callback, it seems like maybe it can be replaced with rclcpp::Node::create_subscription.

but anything that deals with the MessageFilter target_frame concept???

bfjelds commented 6 years ago

or tolerance? or a Transformer?

bfjelds commented 6 years ago