Use tf2_ros::MessageFilter to sync images and transforms by timestamp

[schornakj]

https://github.com/ros-industrial/yak_ros/blob/28a7f0ed81fbf7ab6372b8baf28c58fff5c1cc75/yak_ros/include/yak_ros/online_fusion_server_ros1.h#L121-L123

Would this be something tf2_ros::MessageFilter could be used for?

Originally posted by @gavanderhoorn in https://github.com/ros-industrial/yak_ros/pull/14

[schornakj]

Would this also be a good way to synchronize images and CameraInfo messages?

[gavanderhoorn]

As CameraInfo does have a Header, it could potentially be used, but ppl typically would use image_transport to match frames with their corresponding CameraInfo messages (via a CameraSubscriber).

See also answers.ros.org#290341.

[Mr-Xia-6]

https://github.com/ros-industrial/yak_ros/blob/28a7f0ed81fbf7ab6372b8baf28c58fff5c1cc75/yak_ros/include/yak_ros/online_fusion_server_ros1.h#L121-L123

这tf2_ros::MessageFilter会被用于吗？

最初由@gavanderhoorn发表于＃14

hello, can you give me some advice about how to use kinect2 construct sdf?

THX

[schornakj]

@Mr-Xia-6 Please post a new separate issue if you have a question.