【メモ】ROSで複数トピックからメッセージをSubscribe - Qiita

# /usr/bin/env python import message_filters import rospy from std_msgs.msg import Int32 # Define callback def callback(msg1, msg2): print(msg1.data) print(msg2.data) # Initialize Subscriber node rospy.init_node('listener') # Define Subscriber sub1 = message_filters.Subscriber('listener1', Int32) sub2 = message_filters.Subscriber('listener2', Int32) queue_size = 10 fps = 100. delay = 1 / fps * 0.5