Avoid creating a dedicated tf thread #97
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This marginaly improves cpu usage, and avoids the creation of an unnecessary thread. Lookup for tf transforms without a timeout, as it's not allowed if not using a dedicated thread. It's also not necessary in this case, as we're using a message filter that makes sure that the callback is called when the transforms are available. Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
glpuga
previously approved these changes
Feb 3, 2023
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nit: maybe adding this rationale shaped as a comment at the point where the listener is created would be useful:
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ivanpauno
changed the title
That was the name I thought I wrote 😂 |
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
manzato
reviewed
Feb 6, 2023
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Also notice that the commit message still needs to be ammended.
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nahueespinosa
previously approved these changes
Feb 6, 2023
glpuga
approved these changes
Feb 6, 2023
Fixed when squash-merging |
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Related to #35 (comment)
Summary
This marginaly improves cpu usage, and avoids the creation of an unnecessary thread.
It also changes the code to lookup for tf transforms without a timeout, as it's not allowed if not using a dedicated thread.
It's also not necessary in this case, as we're using a message filter that makes sure that the callback is called when the transforms are available.
Checklist