feat(python): add InputAligner on humble base by dvorak0 · Pull Request #3 · UniflexAI/message_filters

dvorak0 · 2026-04-15T09:30:55Z

Summary

add a Python InputAligner implementation on top of the upstream humble branch
export it from the Python package
add Python tests covering core InputAligner behavior

Notes

this work is based on upstream/humble rather than trying to make rolling build on Humble
C++ InputAligner semantics were referenced from upstream branch sa-input_aligner
this PR currently focuses on the Python side only

…ptions (ros2#76) (ros2#77) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

* adding latest time zoh policy Signed-off-by: Michael Anderson <anderson@mbari.org> * remove commented code * Update include/message_filters/sync_policies/latest_time.h Co-authored-by: Chris Lalancette <clalancette@gmail.com> * updates from PR comments Signed-off-by: Michael Anderson <anderson@mbari.org> * cleanup includes Signed-off-by: Michael Anderson <anderson@mbari.org> * adding documentation Signed-off-by: Michael Anderson <anderson@mbari.org> * Update include/message_filters/sync_policies/latest_time.h Co-authored-by: Louise Poubel <louise@openrobotics.org> * address PR comments; add new test for if pivot changes rate and new one is selected Signed-off-by: Michael Anderson <anderson@mbari.org> * adding message rate step change detection and EMA filter reset Signed-off-by: Michael Anderson <anderson@mbari.org> * whitespace Signed-off-by: Michael Anderson <anderson@mbari.org> * whitespace Signed-off-by: Michael Anderson <anderson@mbari.org> * detect if pivot message is late Signed-off-by: Michael Anderson <anderson@mbari.org> * add ChangeRateLeading test Signed-off-by: Michael Anderson <anderson@mbari.org> * whitespace Signed-off-by: Michael Anderson <anderson@mbari.org> * Update include/message_filters/sync_policies/latest_time.h Co-authored-by: Chris Lalancette <clalancette@gmail.com> * add option to take instance of rclcpp::Clock; make magic numbers configs; other PR comments Signed-off-by: Michael Anderson <anderson@mbari.org> * clean up; handle zero period Signed-off-by: Michael Anderson <anderson@mbari.org> * check for late message after avg error is calculated Signed-off-by: Michael Anderson <anderson@mbari.org> * control test timing with sim time Signed-off-by: Michael Anderson <anderson@mbari.org> * fix msbuild compiler warnings Signed-off-by: Michael Anderson <anderson@mbari.org> Signed-off-by: Michael Anderson <anderson@mbari.org> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> (cherry picked from commit e0055f3) Co-authored-by: andermi <manders9@jhu.edu>

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

* explicitly name std placeholder in cache (cherry picked from commit b3cad03) Co-authored-by: Haoru Xue <xuehaoru233@gmail.com>

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

…ssges are available. (ros2#136) Signed-off-by: Dr. Denis <denis@stoglrobotics.de>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Move Docs From Wiki (ros2#119) Signed-off-by: CursedRock17 <mtglucas1@gmail.com> Signed-off-by: Lucas Wendland <82680922+CursedRock17@users.noreply.github.com> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Lucas Wendland <82680922+CursedRock17@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

(cherry picked from commit 952340a) Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

(cherry picked from commit 001129d) Signed-off-by: EsipovPA <esipov.p@mail.ru> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fix cache tutorial: added tab extension (ros2#190) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> (cherry picked from commit 4f4e42f)

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

(cherry picked from commit b6496c3) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

* Some fixes to documentation (ros2#208) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> (cherry picked from commit e849a8e)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

(cherry picked from commit 6362c1b) Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz>

…2#216) * Add Python implementation for a Chain filter (ros2#213) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 0617849) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

(cherry picked from commit b64e5ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Signed-off-by: EsipovPA <esipov.p@mail.ru> Signed-off-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

…#242) * ros2#130 add simple filter tutorial for cpp (ros2#239) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 92af2b7) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

…izer impl (backport ros2#238) (ros2#245) * ros2#200 fix inconsistensy between cpp and python exact time synchronizer impl (ros2#238) Signed-off-by: EsipovPA <esipov.p@mail.ru> Signed-off-by: Dominik <45536968+authaldo@users.noreply.github.com> Co-authored-by: Dominik <45536968+authaldo@users.noreply.github.com> (cherry picked from commit 8cf647e) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

) (ros2#250) Fixes callers that use callback_group (cherry picked from commit 83367a1) Signed-off-by: Alex Spitzer <aes368@cornell.edu> Co-authored-by: Alex Spitzer <aes368@cornell.edu>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

…nfo a regular class with regular __init__ (ros2#254)

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

…. Add docstring to filters and comparison handlers (ros2#252) (ros2#260) (cherry picked from commit 958bc94) Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

…ync policy Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 8eaeafe)

…ks with the right language markings Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit e951e8a)

…os2#266) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c1a6dc9)

…links to other tutorials as required. Rename Approximate-Tyme tutorial to Approximate-Time (ros2#266) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 55a7fd9)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

… (ros2#276) * (ros2#221) DeltaFilter(C++): Add DeltaFilter class. Add tests (ros2#273) (ros2#273) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 4c72d7a) Signed-off-by: EsipovPA <esipov.p@mail.ru> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

gbiggs and others added 30 commits June 20, 2022 14:02

Adding fix to subscribe() call with raw node pointer and subscriber o…

dd0336a

…ptions (ros2#76) (ros2#77) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Changelog

e5cdaa7

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

4.3.2

1062b25

4.3.3

bb405b0

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

Fix cache.h std::placeholder namespace (ros2#87) (ros2#121)

c4baac5

* explicitly name std placeholder in cache (cherry picked from commit b3cad03) Co-authored-by: Haoru Xue <xuehaoru233@gmail.com>

4.3.4

3a1eebd

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

[LatestTimeSync] Fix crash when Synchronizer is started before the me…

5ce2b58

…ssges are available. (ros2#136) Signed-off-by: Dr. Denis <denis@stoglrobotics.de>

Changelog

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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

4.3.5

fc93cd9

4.3.6

a4bcd16

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

Future port hpp files (ros2#170) (ros2#172)

a2dec47

(cherry picked from commit 952340a) Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>

Changelog

201c9b9

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.7

31ad79a

Fix cache tutorial: added tab extension (backport ros2#190) (ros2#193)

040aae4

* Fix cache tutorial: added tab extension (ros2#190) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> (cherry picked from commit 4f4e42f)

Update changelogs

05d601d

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

4.3.8

e874367

Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

Add 'Cache (C++)' tutorial (ros2#196) (ros2#199)

85eef88

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Changelog

d05fd4a

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.9

0a624a1

Create a Chain class tutorial for C++ (ros2#203) (ros2#207)

68ec682

(cherry picked from commit b6496c3) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Some fixes to documentation (backport ros2#208) (ros2#212)

b153cbe

* Some fixes to documentation (ros2#208) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> (cherry picked from commit e849a8e)

Changelog

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Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.10

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Update repository URL in package.xml (ros2#217) (ros2#218)

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(cherry picked from commit 6362c1b) Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Martin Pecka <peckama2@fel.cvut.cz>

Changelog

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Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.11

86e135c

mergify Bot and others added 23 commits November 13, 2025 09:12

Add chain tutorial python (ros2#219) (ros2#225)

aa8b926

(cherry picked from commit b64e5ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Add simple filter tutorials (backport ros2#226) (ros2#230)

1cfb762

Signed-off-by: EsipovPA <esipov.p@mail.ru> Signed-off-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

Changelog

ce92c1f

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.12

d37928b

Add kwargs passing from Subscriber to node.create_subscription (ros2#247

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) (ros2#250) Fixes callers that use callback_group (cherry picked from commit 83367a1) Signed-off-by: Alex Spitzer <aes368@cornell.edu> Co-authored-by: Alex Spitzer <aes368@cornell.edu>

Changelog

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Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.13

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ros2#253 message_filters.chain.python: Remove dataclass. Make FilterI…

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…nfo a regular class with regular __init__ (ros2#254)

Update changelogs

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Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

4.3.14

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Signed-off-by: Christophe Bedard <bedard.christophe@gmail.com>

(ros2#221) DeltaFilter(Python): Add DeltaFilter for Python. Add tests…

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…. Add docstring to filters and comparison handlers (ros2#252) (ros2#260) (cherry picked from commit 958bc94) Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

(ros2#130) Tutorials: Add C++ tutorial for Approximate Epsilon Time S…

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…ync policy Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 8eaeafe)

(ros2#130) Tutorials: Approximate-Synchronizer: Label CMake code bloc…

f40d2bc

…ks with the right language markings Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit e951e8a)

(ros2#130) Tutorials: Add LatestTime synchronization policy tutorial (r…

f3b8f09

…os2#266) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c1a6dc9)

(ros2#130) Tutorials minor fixers: Replace the TODOs with the actual …

6494ad7

…links to other tutorials as required. Rename Approximate-Tyme tutorial to Approximate-Time (ros2#266) Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit 55a7fd9)

Changelog

89c747c

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.15

9e6d474

Changelog

b63f2f5

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

4.3.16

c2c2898

feat(python): add InputAligner on humble

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feat(python): add InputAligner on humble base#3

feat(python): add InputAligner on humble base#3
dvorak0 wants to merge 53 commits intorollingfrom
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dvorak0 commented Apr 15, 2026

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dvorak0 commented Apr 15, 2026

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