From 639d73e6837c1b12edd403742cfa2b78363194ed Mon Sep 17 00:00:00 2001
From: paul-shuvo <o.k.paul@gmail.com>
Date: Mon, 1 Mar 2021 23:34:33 -0800
Subject: [PATCH] added time synchronizer

---
 src/config.py                 |  4 ++--
 src/object_detection.py       | 19 +++++++++----------
 src/planar_pose_estimation.py |  2 +-
 3 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/src/config.py b/src/config.py
index cf61162..91a12e3 100644
--- a/src/config.py
+++ b/src/config.py
@@ -46,7 +46,7 @@
 # Name of the objects corresponding to
 # the files name without the extension
 # e.g. book-1.jpg corresponds to book-1
-objects = ['book-1']
+objects = ['book-2', 'book-3']
 
 # Minimum match required for an object to be considered detected
 min_match_count = 15
@@ -62,7 +62,7 @@
 
 # Visualize the detected objects,
 # if set to True
-show_image = True
+show_image = False
 
 # Visualize the pose of the objects,
 # if set to True
diff --git a/src/object_detection.py b/src/object_detection.py
index cb57b6d..419e6e5 100755
--- a/src/object_detection.py
+++ b/src/object_detection.py
@@ -7,6 +7,7 @@
 from time import time
 import cv2
 import json
+import message_filters
 # ROS imports
 import rospy
 from std_msgs.msg import String
@@ -67,16 +68,14 @@ def __init__(self, config, to_gray: bool = False):
                                     String,
                                     queue_size=10
                                 )
-
-        # Starts the subscriber
-        r = rospy.Rate(self.frame_rate)
-        while not rospy.is_shutdown():
-            rospy.Subscriber(
-                    self.config.image_sub['topic'],
-                    self.config.image_sub['type'],
-                    self.callback
-                )
-            r.sleep()
+        image_sub = message_filters.Subscriber(self.config.image_sub['topic'],
+                    self.config.image_sub['type'])
+        ts = message_filters.ApproximateTimeSynchronizer(
+            [image_sub], 10, 1, allow_headerless=True
+        )  # Changed code
+        ts.registerCallback(self.callback)
+        # spin
+        rospy.spin()
 
     def extract_object_info(self, objects, obj_path: str):
         """
diff --git a/src/planar_pose_estimation.py b/src/planar_pose_estimation.py
index 51eea08..55bbd44 100755
--- a/src/planar_pose_estimation.py
+++ b/src/planar_pose_estimation.py
@@ -49,7 +49,7 @@ def __init__(self, config):
         # as `PoseArray`.
         self.pose_info_pub = rospy.Publisher('/object_pose_info',
                                              String, queue_size=10)
-        self.pose_array_pub = rospy.Publisher('/object_namepose_array',
+        self.pose_array_pub = rospy.Publisher('/object_pose_array',
                                               PoseArray, queue_size=10)
 
         self.object_pose_info = {}