Syncronized callbacks in ROS2

[dirk-thomas]

@jwang11

yes, location of message_filter make it a challenging case for migration. As you said, split it out from ros_comm and into a small repo require significant effort, so you prefer to separate a branch/fork on ros_comm, right? In new branch, I try make message_filter support both ros version with some conditional code?

I don’t think this is a good path forward. Simply because significant parts of the repo would be irrelevant for ROS 2 which would make synchronizing the diverging branches more and more effort.

@jwang11

how I handle other packages, keep them intact?

I don’t have a good general recommendation for you at the moment.

[jwang11]

@dirk-thomas Ok, I’ll split message_filter from ros_comm, and into a local ROS2 repo. Although it may need quite a lot effort, it is worthwhile.

[mattb]

It seems someone has started to port this at some point in the past.

utilities/message_filters/include/message_filters/sync_policies/approximate_time.h

[jwang11]

It is still catkin version, not completed

[sagniknitr]

Hi,

I found this link while searching for porting message_filters package in ros 2 environment. Can anyone update on the status of the porting work ? I would be happy to take up this job.

[jwang11]

Hi, for my ros2 message_filters progress, it is workable and pass all unittest now, but there are still some follow-up work ongoing, e.g. de-boost and more testing. I plan open source it in 2-3 weeks.

[testkit]

The code is ready at GitHub - intel/ros2_message_filters.

[sagniknitr]

Thank you very much @testkit. I will have a look at your code and get back to you.

[alsora]

Hi, is there any update on this porting?
It would be really useful!

[dirk-thomas]

@alsora

is there any update on this porting?

Please see GitHub - ros2/message_filters for the current state as well as ongoing work.