Port #464, #478, #496, and #502 from ros1 branch
#663
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mvollrath
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Public API Changes
SubscriberManagermethods with athreading.Lockblockparameter toMessageHandler.finish()method with default value ofTrueQueueMessageHandler.finish()to run without blockingIncomingQueueclass towebsocket_handler.pyto decouple incoming messages from the IOLoop threadDescription
Earlier this year I ran into some of the issues described in #425 where the rosbridge server would end up deadlocked or blocked. I was able to solve the problem by porting several PRs from the
ros1branch (which wasdevelopat the time) to my working branch.I recently rebased my working branch to a newer upstream version and after testing confirmed that these fixes are still needed for my application. I thought I would open a PR and see if there was any interest in getting these features into the main ROS2 branch. All credit to the original PR authors; I simply ported the changes over from the ROS1 branch to ROS2.