message_filters.input_aligner module

Input aligner for synchronizing messages from multiple sources based on their timestamps.

class message_filters.input_aligner.InputAligner(timeout: rclpy.duration.Duration, filters: Sequence[SimpleFilter] | None = None)

Bases: object

Align N inputs by timestamp and forward each to its own output signal.

Unlike a single-output filter, InputAligner exposes one signal per input, so it does not extend SimpleFilter. Register downstream callbacks via registerCallback() with an explicit index.

add(msg: Any, queue_index: int) → None

connectInput(filters: Sequence[SimpleFilter]) → None

Connect filters as inputs, replacing any existing inputs.

Note: previously-registered downstream callbacks are also dropped, since the per-input signals are recreated.

disconnectAll() → None

dispatchMessages() → None

getName() → str

getQueueStatus(index: int) → QueueStatus

registerCallback(index: int, callback: Callable[[Concatenate[rclpy.type_support.MsgT, ...]], None], *args: Any) → int

setInputPeriod(index: int, period: rclpy.duration.Duration) → None

setName(name: str) → None

setupDispatchTimer(node: rclpy.node.Node, update_rate: rclpy.duration.Duration) → None

class message_filters.input_aligner.QueueStatus(active: bool, queue_size: int, msgs_processed: int, msgs_dropped: int)

Bases: object

active: bool

msgs_dropped: int

msgs_processed: int

queue_size: int