mf_test.cpp
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00001 #include <message_filters/subscriber.h>
00002 #include <message_filters/synchronizer.h>
00003 #include <message_filters/sync_policies/approximate_time.h>
00004 #include <sensor_msgs/Range.h>
00005 #include <iostream>
00006 
00007 using namespace sensor_msgs;
00008 using namespace message_filters;
00009 
00010 void callback(const RangeConstPtr& image1, const RangeConstPtr& image2)
00011 {
00012   std::cout << "hello" << std::endl;
00013   // Solve all of perception here...
00014 }
00015 
00016 int main(int argc, char** argv)
00017 {
00018   ros::init(argc, argv, "vision_node");
00019 
00020   ros::NodeHandle nh;
00021   message_filters::Subscriber<Range> image1_sub(nh, "/robot0/sonar_0", 1);
00022   message_filters::Subscriber<Range> image2_sub(nh, "/robot0/sonar_1", 1);
00023 
00024   typedef sync_policies::ApproximateTime<Range, Range> MySyncPolicy;
00025   // ApproximateTime takes a queue size as its constructor argument, hence MySyncPolicy(10)
00026   Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), image1_sub, image2_sub);
00027   sync.registerCallback(boost::bind(&callback, _1, _2));
00028 
00029   ros::spin();
00030 
00031   return 0;
00032 }


micros_mars_task_alloc
Author(s): Minglong Li , Xiaodong Yi , Yanzhen Wang , Zhongxuan Cai
autogenerated on Mon Jul 1 2019 19:55:03