Add NodeletLazy abstract class for lazy transport #45
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Maintainers, could you please review this? cd test_nodelet_topic_tools
catkin build --this
rostest test/test_nodelet_lazy.launch --text |
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Any comments, please/ |
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sorry for the late reply, will review this shortly. |
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Friendly ping. |
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ping |
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finally got back decent internet, will review this today, sorry for the very long wait |
| // timer to warn when no connection in a few seconds | ||
| ever_subscribed_ = false; | ||
| timer_ever_subscribed_ = nh_->createWallTimer( | ||
| ros::WallDuration(5), |
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Would it make sense to expose this timer as a ros param ?
| if (!lazy_) | ||
| { | ||
| boost::mutex::scoped_lock lock(connection_mutex_); | ||
| ever_subscribed_ = true; |
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set flag after subscribe succeeded
| { | ||
| if (!ever_subscribed_) | ||
| { | ||
| ever_subscribed_ = true; |
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| /** @brief | ||
| * Advertise a topic and watch the publisher. Publishers which are | ||
| * created by this method. |
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Rephrase this as a single sentence? the meaning of "Publishers which are created by this method" is unclear to me. Did you mean "update the list of Publishers created by this method" ?
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@wkentaro Code looks good to me overall, a few nicktip comments to address/clarify but all of them are cosmetics. |
wkentaro
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User can disable this feature by setting -1 to the param.
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Thank you for the reviews. I fixed the code. |
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great! thanks for iterating on this |
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Thanks! |
This class is to crete nodelet for 'lazy' transport.
Class for Python node is already merged in kinetic-devel branch of topic_tools. ros/ros_comm#713
Lazy transport is an essential feature for perception nodelets that handle image and point cloud, because
the processing should run only when it is necessary to reduce the CPU load.
FYI, the similar nodelet abstract class is used in ros-perception/opencv_apps package. https://github.com/ros-perception/opencv_apps/blob/indigo/include/opencv_apps/nodelet.h