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I am working on a project to command six motors around same time. Due to my project requirement, I have created two different nodes to command 3 motors on each node. But, I am wondering how can I pass command information to these nodes at exact same time. So that, two nodes will start executing the commands at same time. I really appreciate it if anyone can help me with this issue. Thanking and have a nice day.

Originally posted by rcbot on ROS Answers with karma: 39 on 2022-05-13

Post score: 1


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Maybe you could use message_filters package?



message_filters is a utility library for use with roscpp and rospy. It collects commonly used message "filtering" algorithms into a common space. A message filter is defined as something which a message arrives into and may or may not be spit back out of at a later point in time.

An example is the time synchronizer, which takes in messages of different types from multiple sources, and outputs them only if it has received a message on each of those sources with the same timestamp.

This will allow you to get the output at the same time, but I'm not sure about the execution start time in these nodes...

Originally posted by ljaniec with karma: 3064 on 2022-05-13

This answer was ACCEPTED on the original site

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Comment by rcbot on 2022-05-15:
Thank you ljaniec for the answer. I had a look in to this message_filters before.But, whatever I understand it wont serve my purpose. May be I am wrong and will double check again.Once again thank you so much :)


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