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[Do Not Merge] spot development branch #1710

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[Do Not Merge] spot development branch #1710

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864c4aa
[jsk_topic_tools] add allow_headerless option to synchronize_republish
sktometometo Nov 29, 2023
80597ec
[jsk_topic_tools] add allow_headerless option to synchronize_republish
sktometometo Nov 30, 2023
fbfa42c
[jsk_data] add xz support for download_data
sktometometo Apr 1, 2024
fe25178
Merge branch 'PR/add-headerless-option-to-synchronize-republish' into…
sktometometo Apr 1, 2024
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4 changes: 4 additions & 0 deletions doc/jsk_topic_tools/scripts/synchronize_republish.rst
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Expand Up @@ -35,6 +35,10 @@ Parameters

If ``true``, approximate synchronization is used for synchoronizing assigned topics.

* ``~allow_headerless`` (Bool, Default: ``false``)

If ``true``, ``allow_headerless`` option of approximate synchronization is enabled.

* ``~queue_size`` (Integer, Default: ``100``)

Queue length for subscribing topics.
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2 changes: 2 additions & 0 deletions jsk_data/src/jsk_data/download_data.py
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Expand Up @@ -31,6 +31,8 @@ def extract_file(path, to_directory='.', chmod=True):
opener, mode, getnames = zipfile.ZipFile, 'r', lambda f: f.namelist()
elif path.endswith('.tar.gz') or path.endswith('.tgz'):
opener, mode, getnames = tarfile.open, 'r:gz', lambda f: f.getnames()
elif path.endswith('.tar.xz'):
opener, mode, getnames = tarfile.open, 'r:xz', lambda f: f.getnames()
elif path.endswith('.tar.bz2') or path.endswith('.tbz'):
opener, mode, getnames = tarfile.open, 'r:bz2', lambda f: f.getnames()
else:
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14 changes: 9 additions & 5 deletions jsk_topic_tools/scripts/synchronize_republish.py
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Expand Up @@ -9,17 +9,21 @@
def callback(*msgs):
stamp = None
for msg, pub in zip(msgs, pubs):
if stamp is None:
stamp = msg.header.stamp
else:
msg.header.stamp = stamp
try:
if stamp is None:
stamp = msg.header.stamp
else:
msg.header.stamp = stamp
except AttributeError:
pass
pub.publish(msg)


if __name__ == '__main__':
rospy.init_node('synchrnoze_republish')
topics = rospy.get_param('~topics')
use_async = rospy.get_param('~approximate_sync', False)
allow_headerless = rospy.get_param('~allow_headerless', False)
queue_size = rospy.get_param('~queue_size', 100)
slop = rospy.get_param('~slop', 0.1)
pubs = []
Expand All @@ -34,7 +38,7 @@ def callback(*msgs):
subs.append(sub)
if use_async:
sync = message_filters.ApproximateTimeSynchronizer(
subs, queue_size=queue_size, slop=slop)
subs, queue_size=queue_size, slop=slop, allow_headerless=allow_headerless)
else:
sync = message_filters.TimeSynchronizer(subs, queue_size=queue_size)
sync.registerCallback(callback)
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