Fix ros1 topic discovery function not being called frequently at startup #68
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jhurliman
approved these changes
Nov 23, 2022
| @@ -59,7 +60,7 @@ class FoxgloveBridge : public nodelet::Nodelet { | |||
| std::placeholders::_1, std::placeholders::_2)); | |||
| _server->start(address, static_cast<uint16_t>(port)); | |||
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| _updateTimer = getMTNodeHandle().createTimer(ros::Duration(max_update_ms / 1e3), | |||
| _updateTimer = getMTNodeHandle().createTimer(ros::Duration(MIN_UPDATE_PERIOD_MS / 1e3), | |||
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Why create a timer here at all? I think you can just directly call updateAdvertisedTopics()
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True, much simpler. Also just noticed that _maxUpdateMs was never set from the parameter, so we always used the default value
| @@ -269,7 +270,8 @@ class FoxgloveBridge : public nodelet::Nodelet { | |||
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| // Schedule the next update using truncated exponential backoff, up to `_maxUpdateMs` | |||
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Suggested change
| // Schedule the next update using truncated exponential backoff, up to `_maxUpdateMs` | |
| // Schedule the next update using truncated exponential backoff, between `MIN_UPDATE_PERIOD_MS` and `_maxUpdateMs` |
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jhurliman
approved these changes
Nov 23, 2022
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Public-Facing Changes
Fix ros1 topic discovery function not being called frequently at startup
Description
Topic discovery was called for the first time at
max_update_ms(defaults to 5s) after startup. This patch fixes this and also adds a minimum duration of 100ms between two consecutive topic discoveriesEdit: Also fixes the
_maxUpdateTimermember never being set from the ROS param