add tf2_ros::MessageFilter for better robot synchronization

blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.

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add tf2_ros::MessageFilter for better robot synchronization #39

Open RedyChee opened 2 years ago

RedyChee commented 2 years ago

Use tf2_ros::MessageFilter for better robot synchronization.
Creates another subscriber for sensor_msgs::Camera because tf2_ros::MessageFilter accepts one type of ROS message
In filter_callback(), check whether camerainfo is available