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HCM callback groups #313

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4 tasks
SammyRamone opened this issue Dec 7, 2022 · 1 comment · May be fixed by #460
Open
4 tasks

HCM callback groups #313

SammyRamone opened this issue Dec 7, 2022 · 1 comment · May be fixed by #460
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@texhnolyze
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bug Something isn't working motion
Milestone
RoboCup2023

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@SammyRamone
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The HCM has a lot of callbacks. To achieve a decent performance, these should be executed in parallel. This is unfortunately not the default. See also https://docs.ros.org/en/rolling/How-To-Guides/Using-callback-groups.html

Expected behavior

All callbacks for sensordata and joint goals is executed in parallel

Current behavior

All callbacks are executed after each other.

Steps to Reproduce

...

Context (Environment)

  • RViz
  • Simulator
  • Robot
  • Local

Possible Solution
@SammyRamone SammyRamone added the bug Something isn't working label Dec 7, 2022
@texhnolyze texhnolyze self-assigned this Mar 5, 2023
@texhnolyze texhnolyze added this to the RoboCup2023 milestone Mar 8, 2023
@jaagut
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jaagut commented Nov 24, 2023

@Flova any updates on this?

@jaagut jaagut transferred this issue from bit-bots/bitbots_motion Jan 23, 2024
@Flova Flova added the motion label Jan 24, 2024
texhnolyze added a commit that referenced this issue May 16, 2024
@texhnolyze
feat(hcm): setup callback groups for high hz subscriptions
192c7fe 
using a `MutuallyExclusiveCallbackGroup` for each one, so that they do
not block each other but each subscription's callback is still called in
order of received messages.

See: https://docs.ros.org/en/rolling/How-To-Guides/Using-callback-groups.html

Fixes: #313
@texhnolyze texhnolyze linked a pull request May 16, 2024 that will close this issue
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6 tasks
@texhnolyze texhnolyze moved this from 🔖 Ready to 👀 In review in Software Jun 11, 2024
texhnolyze added a commit that referenced this issue Jun 11, 2024
@texhnolyze
feat(hcm): setup callback groups for high hz subscriptions
f3824f4 
using a `MutuallyExclusiveCallbackGroup` for each one, so that they do
not block each other but each subscription's callback is still called in
order of received messages.

See: https://docs.ros.org/en/rolling/How-To-Guides/Using-callback-groups.html

Fixes: #313
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@texhnolyze texhnolyze

Labels
bug Something isn't working motion
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Software
Status: 👀 In review
Act
Status: Todo
Milestone
RoboCup2023
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Successfully merging a pull request may close this issue.

feat(hcm): setup callback groups for high hz subscriptions bit-bots/bitbots_main
4 participants
@texhnolyze @SammyRamone @Flova @jaagut