是否可以在相同消息类型的ROS中时间同步两个主题？

您可以

TimeSynchronizer

rospy

这是一个订阅多个主题以同时获取数据的示例：

import message_filtersfrom sensor_msgs.msg import Image, CameraInfodef callback(image, camera_info):  # Solve all of perception here...image_sub = message_filters.Subscriber('image', Image)info_sub = message_filters.Subscriber('camera_info', CameraInfo)ts = message_filters.TimeSynchronizer([image_sub, info_sub], 10)ts.registerCallback(callback)rospy.spin()

如果您的问题没有解决，则

ApproximateTimeSynchronizer

TimeSynchronizer

ts = message_filters.ApproximateTimeSynchronizer([image_sub, info_sub], 1, 1)

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