ROS：：多话题消息同步
ROS：：多话题消息同步
#include<ros/ros.h>
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#include"nsor_msgs/LarScan.h"
#include"geometry_msgs/PoWithCovarianceStamped.h"
#include<message_filters/subscriber.h>
#include<message_filters/synchronizer.h>
#include<message_filters/sync_policies/approximate_time.h>
#include<message_filters/time_synchronizer.h>
#include<boost/thread/thread.hpp>
#include<iostream>
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void multi_callback(const nsor_msgs::LarScanConstPtr& scan,const geometry_msgs::PoWithCovarianceStampedConstPtr& po)
{
std::cout <<"同步完成！"<< std::endl;
}
int main(int argc,char** argv)
{
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ros::NodeHandle n;
message_filters::Subscriber<nsor_msgs::LarScan>subscriber_lar(n,"scan",1000,ros::TransportHints().tcpNoDelay());
message_filters::Subscriber<geometry_msgs::PoWithCovarianceStamped>subscriber_po(n,"car_po",1000,ros::TransportHints().tcpNoDelay());
typedef message_filters::sync_policies::ApproximateTime<nsor_msgs::LarScan, geometry_msgs::PoWithCovarianceStamped> syncPolicy;
//message_filters::TimeSynchronizer<nsor_msgs::LarScan,geometry_msgs::PoWithCovarianceStamped> sync(subscriber_lar, subscriber_pos e, 10);
message_filters::Synchronizer<syncPolicy>sync(syncPolicy(10), subscriber_lar, subscriber_po);
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std::cout <<"hahah"<< std::endl;
ros::spin();
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return0;
}
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