ros2_message_filters blends various messages based on the conditions that filter needs to met and derives from ROS2 porting of ROS message_filters. It collects commonly used message "filtering" algorithms into a common space. A message filter is defined as something which a message arrives into and may or may not be spit back out of at a later point in time.
The API is a combination of parts:
- Filter Pattern
registerCallback(cb)connectInput(filter)
- Subscriber
subscribe(nodep, topic, 1, myCallback)
- Time Synchronizer
- Input :
- C++: Up to 9 separate filters, each of which is of the form
void callback(const std::shared_ptr<M const>&). The number of filters supported is determined by the number of template arguments the class was created with. - Python: N separate filters, each of which has signature
callback(msg).
- C++: Up to 9 separate filters, each of which is of the form
- Output :
- C++: For message types M0..M8,
void callback(const std::shared_ptr<M0 const>&, ...,const std::shared_ptr<M8 const>&). The number of parameters is determined by the number of template arguments the class was created with. - Python:
callback(msg0.. msgN). The number of parameters is determined by the number of template arguments the class was created with.
- C++: For message types M0..M8,
- Input :
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
using namespace sensor_msgs;
using namespace message_filters;
void callback(const ImageConstPtr& image, const CameraInfoConstPtr& cam_info)
{
// Solve all of perception here...
}
int main(int argc, char** argv)
{
rclcpp::init(argc, argv);
auto nh = std::make_shared<rclcpp::Node>("test_node");
Subscriber<Image> image_sub(nh.get(), "image");
Subscriber<CameraInfo> info_sub(nh.get(), "camera");
TimeSynchronizer<Image, CameraInfo> sync(image_sub, info_sub, 10);
sync.registerCallback(std::bind(&callback, _1, _2));
rclcpp::spin(nh);
return 0;
}
Environment
- Hardware: Compliant to ROS2 HW requirements
- Software: ROS2 + Supported OS(Linux, Win, Mac)
How to build and test ROS2 message filters
- Clone and build ROS2 source code under ros2 workspace, please refer to ROS2 Installation for more details and the following is the example in Ubuntu 16.04 LTS.
$cd ~/<ros2_workspace>
$src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install
- Build message filters
$cd src/ros2
$git clone https://github.com/intel/ros2_message_filters.git
$source <ros2_workspace>/install/local_setup.bash
$ament build src/ros2/ros2_message_filters
- Run unit tests
$ament test src/ros2/ros2_message_filters
1: Test timeout computed to be: 60
1: -- run_test.py: invoking following command in '/home/jwang-robot/ros2_ws/src/ros2/message_filters':
1: - /home/jwang-robot/ros2_ws/build/message_filters/message_filters-test_simple --gtest_output=xml:/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_simple.gtest.xml
1: [==========] Running 2 tests from 1 test case.
1: [----------] Global test environment set-up.
1: [----------] 2 tests from SimpleFilter
1: [ RUN ] SimpleFilter.callbackTypes
1: [ OK ] SimpleFilter.callbackTypes (0 ms)
1: [ RUN ] SimpleFilter.oldRegisterWithNewFilter
1: [ OK ] SimpleFilter.oldRegisterWithNewFilter (0 ms)
1: [----------] 2 tests from SimpleFilter (0 ms total)
1:
1: [----------] Global test environment tear-down
1: [==========] 2 tests from 1 test case ran. (0 ms total)
1: [ PASSED ] 2 tests.
1: -- run_test.py: return code 0
1: -- run_test.py: inject classname prefix into gtest result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_simple.gtest.xml'
1: -- run_test.py: verify result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_simple.gtest.xml'
1/10 Test #1: message_filters-test_simple .................... Passed 0.09 sec
test 2
Start 2: message_filters-msg_cache_unittest
2: Test timeout computed to be: 60
2: -- run_test.py: invoking following command in '/home/jwang-robot/ros2_ws/src/ros2/message_filters':
2: - /home/jwang-robot/ros2_ws/build/message_filters/message_filters-msg_cache_unittest --gtest_output=xml:/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-msg_cache_unittest.gtest.xml
2: [==========] Running 5 tests from 1 test case.
2: [----------] Global test environment set-up.
2: [----------] 5 tests from Cache
2: [ RUN ] Cache.easyInterval
2: [ OK ] Cache.easyInterval (0 ms)
2: [ RUN ] Cache.easySurroundingInterval
2: [ OK ] Cache.easySurroundingInterval (0 ms)
2: [ RUN ] Cache.easyUnsorted
2: [ OK ] Cache.easyUnsorted (0 ms)
2: [ RUN ] Cache.easyElemBeforeAfter
2: [ OK ] Cache.easyElemBeforeAfter (0 ms)
2: [ RUN ] Cache.eventInEventOut
2: [ OK ] Cache.eventInEventOut (0 ms)
2: [----------] 5 tests from Cache (0 ms total)
2:
2: [----------] Global test environment tear-down
2: [==========] 5 tests from 1 test case ran. (0 ms total)
2: [ PASSED ] 5 tests.
2: -- run_test.py: return code 0
2: -- run_test.py: inject classname prefix into gtest result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-msg_cache_unittest.gtest.xml'
2: -- run_test.py: verify result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-msg_cache_unittest.gtest.xml'
2/10 Test #2: message_filters-msg_cache_unittest ............. Passed 0.09 sec
test 3
Start 3: message_filters-test_chain
3: Test timeout computed to be: 60
3: -- run_test.py: invoking following command in '/home/jwang-robot/ros2_ws/src/ros2/message_filters':
3: - /home/jwang-robot/ros2_ws/build/message_filters/message_filters-test_chain --gtest_output=xml:/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_chain.gtest.xml
3: [==========] Running 8 tests from 1 test case.
3: [----------] Global test environment set-up.
3: [----------] 8 tests from Chain
3: [ RUN ] Chain.simple
3: [ OK ] Chain.simple (0 ms)
3: [ RUN ] Chain.multipleFilters
3: [ OK ] Chain.multipleFilters (0 ms)
3: [ RUN ] Chain.addingFilters
3: [ OK ] Chain.addingFilters (1 ms)
3: [ RUN ] Chain.inputFilter
3: [ OK ] Chain.inputFilter (0 ms)
3: [ RUN ] Chain.nonSharedPtrFilter
3: [ OK ] Chain.nonSharedPtrFilter (0 ms)
3: [ RUN ] Chain.retrieveFilter
3: [ OK ] Chain.retrieveFilter (0 ms)
3: [ RUN ] Chain.retrieveFilterThroughBaseClass
3: [ OK ] Chain.retrieveFilterThroughBaseClass (0 ms)
3: [ RUN ] Chain.retrieveBaseClass
3: [ OK ] Chain.retrieveBaseClass (0 ms)
3: [----------] 8 tests from Chain (1 ms total)
3:
3: [----------] Global test environment tear-down
3: [==========] 8 tests from 1 test case ran. (1 ms total)
3: [ PASSED ] 8 tests.
3: -- run_test.py: return code 0
3: -- run_test.py: inject classname prefix into gtest result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_chain.gtest.xml'
3: -- run_test.py: verify result file '/home/jwang-robot/ros2_ws/build/message_filters/test_results/message_filters/message_filters-test_chain.gtest.xml'
3/10 Test #3: message_filters-test_chain ..................... Passed 0.09 sec
test 4
...
...
...
100% tests passed, 0 tests failed out of 10
Label Time Summary:
gtest = 16.15 sec (9 tests)
pytest = 0.54 sec (1 test)
Total Test time (real) = 16.69 sec
- Run fuzz tests (
disabled by default)
$./build/message_filters/message_filters-test_fuzz
[==========] Running 3 tests from 3 test cases.
[----------] Global test environment set-up.
[----------] 1 test from TimeSequencer
[ RUN ] TimeSequencer.fuzz_sequencer
[ OK ] TimeSequencer.fuzz_sequencer (5118 ms)
[----------] 1 test from TimeSequencer (5118 ms total)
[----------] 1 test from TimeSynchronizer
[ RUN ] TimeSynchronizer.fuzz_synchronizer
[ OK ] TimeSynchronizer.fuzz_synchronizer (5013 ms)
[----------] 1 test from TimeSynchronizer (5013 ms total)
[----------] 1 test from Subscriber
[ RUN ] Subscriber.fuzz_subscriber
[ OK ] Subscriber.fuzz_subscriber (5010 ms)
[----------] 1 test from Subscriber (5010 ms total)
[----------] Global test environment tear-down
[==========] 3 tests from 3 test cases ran. (15142 ms total)
[ PASSED ] 3 tests.
- python not support headless message
- Not verify with Windows and OS X environment and there may be some errors
If there is any security issue, it should be reported using process at https://01.org/security.
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