创建双订阅者，为什么没有进入回调函数

[510721167]

class sync_node : public rclcpp::Node
{

public:
// 构造函数,有一个参数为节点名称
sync_node(const std::string &name = "sync_node") : Node(name)
{

    command_subscribe_1 = this->create_subscription<sensor_msgs::msg::Image>("/azure_kinect_node/color", 5, std::bind(&sync_node::command_callback_1, this, std::placeholders::_1));
    command_subscribe_2 = this->create_subscription<sensor_msgs::msg::Image>("/color/image_raw", 5, std::bind(&sync_node::command_callback_2, this, std::placeholders::_1));
    cout << "启动成功1" << endl;
}

private:
// 声明一个订阅者
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr command_subscribe_1;
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr command_subscribe_2;

void command_callback_1(const sensor_msgs::msg::Image::SharedPtr msg)
{
    cout << "启动成功2" << endl;
    cloud_sub_ptr_1->new_data_.push_back(*msg);
    cloud_sub_ptr_1->ParseData(Image_data_buff_);
    if (Image_data_buff_.size() == 0)
        cout << "八嘎，错啦" << endl;
    double Image_time = Image_data_buff_.front().header.stamp.sec;
    bool valid_img = interpolation.SyncData(unsynced_Image_, Image_data_buff_cha, Image_time);
    // 如果任意传感器没有插值，剔除该数据，找下一个数据做融合
    static bool sensor_inited = false;
    if (!sensor_inited)
    {
        if (!valid_img)
        {
            Image_data_buff_.pop_front();
            // return false;
        }
        sensor_inited = true;
    }
}
void command_callback_2(const sensor_msgs::msg::Image::SharedPtr msg)
{
    cout << "启动成功3" << endl;
    cloud_sub_ptr_2->new_data_.push_back(*msg);
    cloud_sub_ptr_2->ParseData(unsynced_Image_);
}

std::deque<sensor_msgs::msg::Image> Image_data_buff_;
std::deque<sensor_msgs::msg::Image> Image_data_buff_cha;
std::deque<sensor_msgs::msg::Image> unsynced_Image_;
ImageSubscriber *cloud_sub_ptr_1;
ImageSubscriber *cloud_sub_ptr_2;
ImageData interpolation;

};

int main(int argc, char **argv)
{
rclcpp::init(argc, argv); // ros2的c++库
/创建一个新的ROS 2节点，并将其分配给一个名为node的智能指针变量/
auto node = std::make_shared<sync_node>();

/* 运行节点，并检测退出信号*/
rclcpp::spin(node);
rclcpp::shutdown();
return 0;

}
这是我的代码，
终端：ros2 run img_sync sync_node
启动成功1
回调函数没有进什么原因

[小鱼]

@510721167 测试过单个可以进吗？如果单个可以，尝试用多线程执行器配合callbackgroup修改