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use newer 'message_filters::Subscriber' constructor API

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This commit is contained in:
Christian Rauch
2026-07-24 10:53:27 +02:00
parent e018369304
commit 75636938cc
3 changed files with 25 additions and 3 deletions
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orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp
Regular → Executable
+7 -1
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@@ -79,13 +79,19 @@ class ImageSyncNode : public rclcpp::Node {
rclcpp::QoS qos{rclcpp::KeepLast(queue_size_)};
qos.reliable();
#ifdef message_filters_QoS
const rclcpp::QoS qos_prof = qos;
#else
const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
#endif
if (sync_topics_.size() == 1) {
single_sub_ = this->create_subscription<Image>(
sync_topics_.front(), qos,
[this](const ImageConstPtr msg) { this->handle_synced_images({msg}); });
} else {
for (size_t i = 0; i < sync_topics_.size(); ++i) {
subscribers_[i].subscribe(this, sync_topics_[i], qos.get_rmw_qos_profile());
subscribers_[i].subscribe(this, sync_topics_[i], qos_prof);
}
create_synchronizer();
}