ros2: Only subscribe to /gazebo/performance_metrics when necessary #1205
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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>
We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. This changes gazebo_ros_init to only subscribe to the gazebo topic if there are any subscribers to the corresponding ROS topic. While advertiser callbacks are used in ROS 1 but are not yet in ROS2, here we use polling in the GazeboRosInitPrivate::PublishSimTime callback to check for subscribers since it is called for each Gazebo time step. This also helps workaround the deadlock documented in ros-simulation#1175 and gazebosim/gazebo-classic#2902. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
commented
Dec 22, 2020
gazebo_ros/src/gazebo_ros_init.cpp
Outdated
| @@ -33,6 +33,13 @@ | |||
| #include <memory> | |||
| #include <string> | |||
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| #ifndef GAZEBO_ROS_HAS_PERFORMANCE_METRICS | |||
| #if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || \ | |||
| (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14) | |||
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uncrustify doesn't like my indentation here
--- src/gazebo_ros_init.cpp
+++ src/gazebo_ros_init.cpp.uncrustify
@@ -38 +38 @@
- (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
+ (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
I think it looks better like this, but it's not a big deal. Is it allowed to tell uncrustify to ignore this line, or should I just make the change?
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For indentation, I think you can use
// *INDENT-OFF*
#if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || \
(GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
// *INDENT-ON*But subjectively, I would just do what uncrustify says to avoid the extra "INDENT" directives. I don't feel strongly one way or the other.
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I ended up going with 3a875ea
ahcorde
approved these changes
Dec 22, 2020
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
jacobperron
approved these changes
Dec 22, 2020
|
just one test failure that looks like the flaky test in #1169 I'll go ahead and merge |
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Feb 3, 2021
…1205) We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. This changes gazebo_ros_init to only subscribe to the gazebo topic if there are any subscribers to the corresponding ROS topic. While advertiser callbacks are used in ROS 1 but are not yet in ROS2, here we use polling in the GazeboRosInitPrivate::PublishSimTime callback to check for subscribers since it is called for each Gazebo time step. This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902. This also adds a macro to reduce duplication of the version checking logic. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Merged
jacobperron
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that referenced
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Mar 11, 2021
…1205) We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. This changes gazebo_ros_init to only subscribe to the gazebo topic if there are any subscribers to the corresponding ROS topic. While advertiser callbacks are used in ROS 1 but are not yet in ROS2, here we use polling in the GazeboRosInitPrivate::PublishSimTime callback to check for subscribers since it is called for each Gazebo time step. This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902. This also adds a macro to reduce duplication of the version checking logic. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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This is similar to #1202 and #1203 targeting
ros2with polling instead of advertiser callbacks.We are currently subscribing to the
/gazebo/performance_metricstopic even if there are no subscribers to the ROS topic forwarding this data. This changesgazebo_ros_initto only subscribe to the gazebo topic if there are any subscribers to the corresponding ROS topic. While advertiser callbacks are used in ROS 1 but are not yet in ROS2, here we use polling in theGazeboRosInitPrivate::PublishSimTimecallback to check for subscribers since it is called for each Gazebotime step.
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.