Example of message filter and lifecycle node

Hi everybody,

do you know where i can find an example of the usage of message filter in a lifecycle node? The standard way "messagefilters::Subscriber<sensormsgs::msg::PointCloud2> subscriptionpointcloud" does not work.

Thanks.

Asked by diturr on 2023-04-19 03:26:03 UTC

Comments

Answers

I found this issue: https://github.com/ros2/geometry2/issues/95 - it looks like this option is not there yet.

EDIT: I just saw that it was a MessageFilter class inside the tf2, not the ROS 2 message_filters, so it is probably incorrect. I hope there is some example how to do it correctly. Please add your code (MRE would be the best), so we could check it and maybe fix any issues.

Feature request - description

Similar to #70 and #94, the MessageFilter class needs support for lifecycle nodes.

Implementation considerations

There could be a constructor that takes the required node interfaces, perhaps in addition to rclcpp::Node and rclcpp_lifecycle::LifecycleNode.

Asked by ljaniec on 2023-04-19 04:55:29 UTC