add synchronous node in c++

Author: QuantuMope

CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   image_transport
   message_generation
+  message_filters
 )
 
 ## Make sure 'FindGFlags.cmake' and 'FindGlog.cmake' are visible to cmake
@@ -59,6 +60,8 @@ catkin_package(
   std_msgs
   geometry_msgs
   message_runtime
+  sensor_msgs
+  message_filters
 )
 
 ## Build
@@ -83,22 +86,34 @@ link_directories(
 
 # Declare a C++ executable and
 # specify libraries to link a executable target against
-add_executable(rosOpenpose
-  src/rosOpenpose.cpp
+add_executable(rosOpenposeAsync
+  src/rosOpenposeAsync.cpp
   src/cameraReader.cpp)
 
+add_executable(rosOpenposeSync
+  src/rosOpenposeSync.cpp)
+
 # Bug fix
 # src: https://github.com/ravijo/ros_openpose/issues/14#issuecomment-631164300
-add_dependencies(rosOpenpose ros_openpose_generate_messages_cpp)
+add_dependencies(rosOpenposeAsync ros_openpose_generate_messages_cpp)
+add_dependencies(rosOpenposeSync ros_openpose_generate_messages_cpp)
 
-target_link_libraries(rosOpenpose
+target_link_libraries(rosOpenposeAsync
   ${OpenPose_LIBS}
   ${GFLAGS_LIBRARY}
   ${GLOG_LIBRARY}
   ${OpenCV_LIBS}
   ${catkin_LIBRARIES}
 )
 
+target_link_libraries(rosOpenposeSync
+        ${OpenPose_LIBS}
+        ${GFLAGS_LIBRARY}
+        ${GLOG_LIBRARY}
+        ${OpenCV_LIBS}
+        ${catkin_LIBRARIES}
+        )
+
 add_executable(testCameraReader
   src/testCameraReader.cpp
   src/cameraReader.cpp)

launch/core.launch

@@ -24,20 +24,33 @@ Date: 2020/03/02
   <arg name="py_openpose_path" default="" />
 
   <group if="$(arg synchronous)" >
-    <!-- invoke synchronous node -->
-    <node name="rosOpenpose" pkg="ros_openpose" type="ros_openpose_synchronous.py" output="screen" required="true" args="$(arg openpose_args)" >
-      <param name="frame_id" value="$(arg frame_id)" />
-      <param name="no_depth" value="$(arg no_depth)" />
-      <param name="pub_topic" value="$(arg pub_topic)" />
-      <param name="color_topic" value="$(arg color_topic)" />
-      <param name="depth_topic" value="$(arg depth_topic)" />
-      <param name="cam_info_topic" value="$(arg cam_info_topic)" />
-      <param name="py_openpose_path" value="$(arg py_openpose_path)" />
-    </node>
+    <!-- invoke c++ synchronous node -->
+    <group if="$(eval py_openpose_path == 'none')" >
+      <node name="rosOpenpose" pkg="ros_openpose" type="rosOpenposeSync" output="screen" required="true" args="$(arg openpose_args)" >
+        <param name="frame_id" value="$(arg frame_id)" />
+        <param name="no_depth" value="$(arg no_depth)" />
+        <param name="pub_topic" value="$(arg pub_topic)" />
+        <param name="color_topic" value="$(arg color_topic)" />
+        <param name="depth_topic" value="$(arg depth_topic)" />
+        <param name="cam_info_topic" value="$(arg cam_info_topic)" />
+      </node>
+    </group>
+    <!-- invoke python synchronous node -->
+    <group unless="$(eval py_openpose_path == 'none')" >
+      <node name="rosOpenpose" pkg="ros_openpose" type="ros_openpose_synchronous.py" output="screen" required="true" args="$(arg openpose_args)" >
+        <param name="frame_id" value="$(arg frame_id)" />
+        <param name="no_depth" value="$(arg no_depth)" />
+        <param name="pub_topic" value="$(arg pub_topic)" />
+        <param name="color_topic" value="$(arg color_topic)" />
+        <param name="depth_topic" value="$(arg depth_topic)" />
+        <param name="cam_info_topic" value="$(arg cam_info_topic)" />
+        <param name="py_openpose_path" value="$(arg py_openpose_path)" />
+      </node>
+    </group>
   </group>
   <group unless="$(arg synchronous)" >
     <!-- invoke asynchronous node -->
-    <node name="rosOpenpose" pkg="ros_openpose" type="rosOpenpose" output="screen" required="true" args="$(arg openpose_args)" >
+    <node name="rosOpenpose" pkg="ros_openpose" type="rosOpenposeAsync" output="screen" required="true" args="$(arg openpose_args)" >
       <param name="frame_id" value="$(arg frame_id)" />
       <param name="no_depth" value="$(arg no_depth)" />
       <param name="pub_topic" value="$(arg pub_topic)" />

launch/run.launch

@@ -9,8 +9,8 @@ Date: 2019/11/23
   <!-- set this flag to switch ros_openpose to a synchronous setting -->
   <arg name="synchronous" default="false" />
 
-  <!-- specify path of python openpose library (only necessary if synchronous setting is being used) -->
-  <arg name="py_openpose_path" default="/usr/local/python" />
+  <!-- specify path to python openpose library (specifying this will switch synchronous setting from c++ to python) -->
+  <arg name="py_openpose_path" default="none" />
 
   <!-- the value of this argument can only be one of the following: realsense, kinect, zed2, nodepth -->
   <arg name="camera" default="realsense" />

package.xml

@@ -15,11 +15,15 @@
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_filters</build_depend>
 
   <exec_depend>roscpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>message_filters</exec_depend>
   <export>
   </export>
 </package>