A set of ROS2 message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.

当前项目代码仓暂无内容

message_filters

介绍

message_filters节点

message_filters是一个实用程序库，用于 roscpp 和 rospy。它将常用的消息“过滤”算法收集到一个公共空间中。消息筛选器被定义为消息到达的内容，在以后的某个时间点可能会或可能不会被吐出。

软件架构

软件架构说明

https://github.com/ros2/message_filters.git

文件内容:

message_filters/
├── CHANGELOG.rst
├── CMakeLists.txt
├── conf.py
├── include
│   └── message_filters
│       ├── cache.h
│       ├── chain.h
│       ├── connection.h
│       ├── message_event.h
│       ├── message_traits.h
│       ├── null_types.h
│       ├── parameter_adapter.h
│       ├── pass_through.h
│       ├── signal1.h
│       ├── signal9.h
│       ├── simple_filter.h
│       ├── subscriber.h
│       ├── synchronizer.h
│       ├── sync_policies
│       ├── time_sequencer.h
│       ├── time_synchronizer.h
│       └── visibility_control.h
├── index.rst
├── LICENSE
├── mainpage.dox
├── package.xml
├── pytest.ini
├── rosdoc.yaml
├── setup.py
├── src
│   ├── connection.cpp
│   └── message_filters
│       └── __init__.py
└── test
    ├── directed.py
    ├── msg_cache_unittest.cpp
    ├── test_approximate_time_policy.cpp
    ├── test_approxsync.py
    ├── test_chain.cpp
    ├── test_exact_time_policy.cpp
    ├── test_fuzz.cpp
    ├── test_message_filters_cache.py
    ├── test_simple.cpp
    ├── test_subscriber.cpp
    ├── test_synchronizer.cpp
    ├── time_sequencer_unittest.cpp
    └── time_synchronizer_unittest.cpp

安装教程

下载rpm包

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/message_filters/ros2-foxy-ros2-message_filters-3.2.5-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/message_filters/ros2-foxy-ros2-message_filters-3.2.5-2.oe2203.x86_64.rpm

安装rpm包

aarch64:

sudo rpm -ivh --nodeps --force ros2-foxy-ros2-message_filters-3.2.5-2.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros2-foxy-ros2-message_filters-3.2.5-2.oe2203.x86_64.rpm

使用说明

依赖环境安装:

sh /opt/ros/foxy/install_dependence.sh

安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。

输出:

message_filters/
├── include
│   └── message_filters
│       ├── cache.h
│       ├── chain.h
│       ├── connection.h
│       ├── message_event.h
│       ├── message_traits.h
│       ├── null_types.h
│       ├── parameter_adapter.h
│       ├── pass_through.h
│       ├── signal1.h
│       ├── signal9.h
│       ├── simple_filter.h
│       ├── subscriber.h
│       ├── synchronizer.h
│       ├── sync_policies
│       ├── time_sequencer.h
│       ├── time_synchronizer.h
│       └── visibility_control.h
├── lib
│   ├── libmessage_filters.so
│   └── python3.9
│       └── site-packages
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── message_filters
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh