def __init__(self, topics):
# Flags
self.need_rgb = True
self.need_depth = True
# RGB Subscribers
sub_rgb = message_filters.Subscriber(topics['rgb'], numpy_msg(Image))
sub_rgb_info = message_filters.Subscriber(topics['rgb_info'], CameraInfo)
ts_rgb = message_filters.TimeSynchronizer([sub_rgb, sub_rgb_info], 100)
ts_rgb.registerCallback(self.rgb_callback)
# Depth Subscribers
sub_depth = message_filters.Subscriber(topics['depth'], numpy_msg(Image))
sub_depth_info = message_filters.Subscriber(topics['depth_info'], CameraInfo)
ts_depth = message_filters.TimeSynchronizer([sub_depth, sub_depth_info], 100)
ts_depth.registerCallback(self.depth_callback)
self.pub_cloud = rospy.Publisher('/camera/xyz_rgb/points', numpy_msg(PointCloud2))
def __init__(self, topics):
# Flags
self.need_rgb = True
self.need_depth = True
# RGB Subscribers
sub_rgb = message_filters.Subscriber(topics['rgb'], numpy_msg(Image))
sub_rgb_info = message_filters.Subscriber(topics['rgb_info'],
CameraInfo)
ts_rgb = message_filters.TimeSynchronizer([sub_rgb, sub_rgb_info], 100)
ts_rgb.registerCallback(self.rgb_callback)
# Depth Subscribers
sub_depth = message_filters.Subscriber(topics['depth'],
numpy_msg(Image))
sub_depth_info = message_filters.Subscriber(topics['depth_info'],
CameraInfo)
ts_depth = message_filters.TimeSynchronizer(
[sub_depth, sub_depth_info], 100)
ts_depth.registerCallback(self.depth_callback)
self.pub_cloud = rospy.Publisher('/camera/xyz_rgb/points',
numpy_msg(PointCloud2))
def __init__(self):
self.pub = rospy.Publisher('/cloud_out', numpy_msg(PointCloud2))
self.sub = rospy.Subscriber('/cloud_in',
numpy_msg(PointCloud2),
self.cloud_callback,
queue_size=1)
def __init__(self):
self.pub = rospy.Publisher('/cloud_out', numpy_msg(PointCloud2))
self.sub = rospy.Subscriber('/cloud_in', numpy_msg(PointCloud2), self.cloud_callback, queue_size=1)