Message Filter (ROS)

Eddy introduced me to these. Might be useful for Data Association with the cameras and lidars.

From ChatGPT: Yes, ROS2 message filters are used to process messages from multiple topics and synchronize them based on time or other criteria before processing. This is particularly useful in robotics applications where data from multiple sensors need to be combined and analyzed in a coherent manner.

  • Time Synchronization: Ensures messages from different sources are matched based on their timestamp.
  • Approximate Time Policy: Allows for synchronization of messages that arrive at slightly different times, useful in systems where strict timing cannot be guaranteed.
  • Message Filtering: Enables the selection and processing of messages based on specific criteria, enhancing flexibility in data handling.