Backport #1202 to kinetic: fix performance metrics #1209
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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
kinetic-devel, an alternative to #1180: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.