Revert usage of tf listener node in favor of callback group #881
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Signed-off-by: Florian Vahl <florian@flova.de>
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Friendly ping @clalancette |
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Are there any issues with this PR? @clalancette |
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Reverts the changes from #551 as ros2/rclcpp#1218 is now merged.
The parallelism and performance should be unaffected because tf uses a callback group which is spon by its own executor instance for the tf topics. See PR ros2/geometry2#442 for the addition of this behavior.
This PR reduces the overhead from having more nodes. In addition to that, it also reduces the number of nodes in the rqt node graph and makes the subscriptions more visible, as the subscription can be directly associated with the parent node which is otherwise not the case (only something like tf_listener_xxxxx is shown, with no indication regarding the real node that creates the tf listener).