Fix warning "Failed to meet update rate!" #602
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Commit EDC5BEA from April 2020 causes an access to the ros parameter server for every IMU packet that is processed. If the ros parameter server is not local, the fetch time can lead to lost input messages, and erratic timing of filter updates. The fix is to fetch the parameter silent_tf_failure only once at startup. This addresses issue cra-ros-pkg#601. Signed-off-by: Mike Scheutzow <mjs973@hotmail.com>
ayrton04
approved these changes
Oct 12, 2020
| @@ -476,6 +476,10 @@ template<class T> class RosFilter | |||
| //! | |||
| bool useControl_; | |||
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| //! @brief Whether or not to print warning for tf lookup failure | |||
| //! | |||
| bool silent_tf_failure_; | |||
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Thank you very much for both catching and addressing this issue.
Given that this is against melodic-devel, and we're still using the old (and technically incorrect) style for variable names in this branch, would you mind making this consistent with the others, and changing this to silentTfFailure_? I'll make sure it matches the style when I cherry pick it into the other branches. Thanks!
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My branch has been updated with this change.
Signed-off-by: Mike Scheutzow <mjs973@hotmail.com>
ayrton04
approved these changes
Oct 12, 2020
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Thanks again! |
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This patch reads the parameter server key silent_tf_failure only once at startup. It resolves #601.