is_synchronized¶

What is this?¶

Tool to check if specified topics are ‘synchronized’ or not. ‘synchronized’ means timestamps completely match with ‘Exact’ synchronization policy (default). With ‘Approximate’ policy (with --approximate-sync option), it means the timestamps’ difference falls within ‘slop’ (default 0.1 seconds).

Usage¶

usage: is_synchronized [-h] [-t TIMEOUT] [-q QUEUE_SIZE] [-a] [--slop SLOP]
                       topics [topics ...]

positional arguments:
  topics                topics which should be synchronized

optional arguments:
  -h, --help            show this help message and exit
  -t TIMEOUT, --timeout TIMEOUT
                        Timeout for the test of synchronization
  -q QUEUE_SIZE, --queue-size QUEUE_SIZE
                        Size of queue for the synchronization
  -a, --approximate-sync
                        Flag to use approximate synchronization
  --slop SLOP           Allowed time delta in approximate synchronization

Example¶

$ rosrun jsk_topic_tools is_synchronized /mask_image/mask /mask_image/output/camera_info
****************** Test Condition ******************
timeout: 5 seconds
queue_size: 100
topics:
  - /mask_image/mask [sensor_msgs/Image]
  - /mask_image/output/camera_info [sensor_msgs/CameraInfo]
****************************************************
listening these topics for at most 5 seconds in rostime
synchronized in 1.0 seconds
these topics are: 'synchronized'

$ rosrun jsk_topic_tools is_synchronized /mask_image/mask /raw_image_rgb/image_color
****************** Test Condition ******************
timeout: 5 seconds
queue_size: 100
topics:
  - /mask_image/mask [sensor_msgs/Image]
  - /raw_image_rgb/image_color [sensor_msgs/Image]
****************************************************
listening these topics for at most 5 seconds in rostime
timeout for 5 seconds
these topics are: 'not synchronized'