-
Notifications
You must be signed in to change notification settings - Fork 515
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Planning Scene Monitor Node Executor #230
Planning Scene Monitor Node Executor #230
Conversation
Codecov Report
@@ Coverage Diff @@
## master #230 +/- ##
==========================================
- Coverage 46.63% 46.45% -0.19%
==========================================
Files 122 123 +1
Lines 12740 12781 +41
==========================================
- Hits 5941 5937 -4
- Misses 6799 6844 +45
Continue to review full report at Codecov.
|
1961c05
to
6b9573e
Compare
I tested this change by running the run_moveit_cpp demo |
9135542
to
9c6d59d
Compare
@henningkayser the CI just passed |
@jrgnicho looks good! But shouldn't we then use the private node for running the other callbacks as well? The original implementation had an AsyncSpinner spinning a callback queue assigned to the node handle (which effectively runs the callbacks in a separate thread). Here we initialize the executor in a separate thread and use this for spinning a private node. So for actually running the callbacks in that thread I think we have to initialize publishers/subscribers/services with the private node instead of |
0d8cfb1
to
43e41c0
Compare
@henningkayser I've made the requested changes |
43e41c0
to
ed89d08
Compare
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I fixed name and namespace of the private node (get_fully_qualified_name()
was giving the full namespace which would result in an invalid node name). Now everything seems to work just fine.
Description
Executes internal timer callback using a Single Threaded Executor, this is an attempt to mimic the ROS1 behavior that used an Asynch Spinner and an internal Callback Queue to manage the timer callback invocation. Need some guidance on how best to test this.
Checklist