Keep one callback group per channel in memory #92
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jhurliman
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Nov 30, 2022
achim-k
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Dec 11, 2022
…ed (#109) **Public-Facing Changes** None **Description** Destruction of callback groups seems to have undesired side effects (see ros2/rclcpp#2053) so we have to keep them as class members. In #92 we did that already for Subscriptions, but we forgot to do that also for Publications.
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Public-Facing Changes
None
Description
Previously, we created a callback group when a client subscribed to a topic and deleted the callback group again when the client unsubscribed. This caused some side effects however (see #84) as ROS2 apparently does not handle destruction of callback groups correctly. This PR ensures that callback groups stay alive for the lifetime of the node. Furthermore, we have one callback group per channel rather than one callback group for every subscription