ros多傳感器時間同步(message_filters)

message_filters是一個用於roscpp和rospy的實用程序庫。 它集合了許多的常用的消息“過濾”算法。消息過濾器message_filters類似一個消息緩存，當消息到達消息過濾器的時候，可能並不會立即輸出，而是在稍後的時間點裏滿足一定條件下輸出。
舉個例子，比如時間同步器，它接收來自多個源的不同類型的消息，並且僅當它們在具有相同時間戳的每個源上接收到消息時才輸出它們，也就是起到了一個消息同步輸出的效果。

下面同步雷達和圖像的數據.代碼如下:

// msg_filter.cpp

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <iostream>

std::string img_topic = "/fuhong/_img";
std::string point_topic = "/fuhong/_points";

//rosbag::Bag bag_record;//文件直接記錄

ros::Publisher img_pub;
ros::Publisher pointcloud_pub;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> testSyncPolicy;

//回調函數
void callback(const sensor_msgs::ImageConstPtr &image, const sensor_msgs::PointCloud2ConstPtr &point)  //回調中包含多個消息
{
    //以實時發佈的方式發佈
    img_pub.publish(*image);
    pointcloud_pub.publish(*point);
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "time_synch");
    ros::NodeHandle n;

    //發佈的話題
    img_pub = n.advertise<sensor_msgs::Image>(img_topic, 1000);
    pointcloud_pub = n.advertise<sensor_msgs::PointCloud2>(point_topic, 1000);
    //訂閱的話題
    message_filters::Subscriber<sensor_msgs::Image> img_sub(n, "/zed/zed_node/left/image_rect_color", 1);// topic1 輸入
    message_filters::Subscriber<sensor_msgs::PointCloud2> pointcloud_sub(n, "/rslidar_points", 1);// topic2 輸入

    message_filters::Synchronizer<testSyncPolicy> sync(testSyncPolicy(10), img_sub, pointcloud_sub);// 同步
    sync.registerCallback(boost::bind(&callback, _1, _2));

    ros::spin();
    ros::shutdown();

    return 0;
}

CMakeList.txt文件

cmake_minimum_required(VERSION 2.8.3)
project(subscriber)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
        roscpp
        rosmsg
        rospy
        message_filters
        )

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
        #  INCLUDE_DIRS include
        #  LIBRARIES subscriber
        #  CATKIN_DEPENDS roscpp rosmsg rospy
        #  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        # include
        ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/subscriber.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/subscriber_node.cpp)
add_executable(msg_filter src/msg_filter.cpp)
target_link_libraries(msg_filter
        ${catkin_LIBRARIES}
        )

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_subscriber.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

package.xml文件

<?xml version="1.0"?>
<package format="2">
  <name>subscriber</name>
  <version>0.0.0</version>
  <description>The subscriber package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
  <maintainer email="[email protected]">fuhong</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/subscriber</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="[email protected]">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rosmsg</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>message_filters</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rosmsg</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rosmsg</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>message_filters</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

同步前的效果:

同步後的效果: