ros2_message_filters
A ROS2 library for synchronizing and filtering messages based on time and other conditions, ported from ROS message_filters.
Overview
ros2_message_filters is a library for the Robot Operating System 2 (ROS2) that collects commonly used message filtering algorithms into a common space. It enables developers to blend various messages based on specific conditions, such as time synchronization, which is essential for building robust perception and control systems in robotics.
Key Features
- Time Synchronizer — Synchronizes up to 9 separate message streams in C++ (or N in Python) based on their timestamps, ensuring coordinated processing.
- Subscriber Integration — Provides a Subscriber class to easily connect to ROS2 topics and integrate with filtering pipelines.
- Filter Pattern API — Offers a consistent API with
registerCallbackandconnectInputmethods for building custom filter chains. - Message Caching — Includes a cache mechanism for storing and retrieving messages based on time intervals, useful for historical data analysis.
- Cross-Platform Support — Compatible with Linux, Windows, and macOS environments that support ROS2.
Philosophy
The project follows a modular and reusable design philosophy, porting the proven message filtering concepts from ROS1 to ROS2 to maintain consistency and ease adoption in the robotics community.
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