Only subscribe to /gazebo/performance_metrics when necessary #1202
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This reduces duplication of the version checking logic for performance metrics in gazebo. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. The link_states and model_states topics currently use an advertise mechanism with callbacks when a subscriber connects or disconnects, so I've used that same pattern for the performance_metrics topic. This also helps workaround the deadlock documented in ros-simulation#1175 and gazebosim/gazebo-classic#2902. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Backport of #1202 to melodic-devel. We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. The link_states and model_states topics currently use an advertise mechanism with callbacks when a subscriber connects or disconnects, so I've used that same pattern for the performance_metrics topic. This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902. This also adds a GAZEBO_ROS_HAS_PERFORMANCE_METRICS macro that reduces duplication of the version checking logic for performance metrics in gazebo and adds fixes some doc-string and typos in existing code Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Backport of #1202 to kinetic-level. We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. The link_states and model_states topics currently use an advertise mechanism with callbacks when a subscriber connects or disconnects, so I've used that same pattern for the performance_metrics topic. This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902. This also adds a GAZEBO_ROS_HAS_PERFORMANCE_METRICS macro that reduces duplication of the version checking logic for performance metrics in gazebo and adds fixes some doc-string and typos in existing code Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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We are currently subscribing to the
/gazebo/performance_metricstopic even if there are no subscribers to the ROS topic forwarding this data. Thelink_statesandmodel_statestopics currently use an advertise mechanism with callbacks when a subscriber connects or disconnects, so I've used that same pattern for theperformance_metricstopic.This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902.
I've also added the
GAZEBO_ROS_HAS_PERFORMANCE_METRICSmacro to de-duplicate the gazebo version checking logic and made some minor doc-string and spelling fixes.