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Fix nodes spins rather than blocking and waiting, using 100% CPU [melodic] #1651

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Fix nodes spins rather than blocking and waiting, using 100% CPU [melodic] #1651

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2577130
roscpp: fix potential busy-wait loop caused by backported Boost condi…
meyerj Nov 2, 2018
b4e7cbc
roscpp: use boost::condition_variable::wait_for() instead of deprecat…
meyerj Dec 5, 2018
be288e2
roscpp: do not use boost_161_condition_variable.h on Windows (untested)
meyerj Dec 11, 2018
9d2715d
roscpp: remove specialized implementation of TimerManager<T,D,E>::thr…
meyerj Dec 14, 2018
f6a05e3
fix namespaces
Feb 25, 2019
dd503e2
add more explicit namespaces
ahoarau Feb 26, 2019
48b3f6b
add missing ns
Feb 26, 2019
dfbf726
roscpp: fixed Boost version check in CMakeLists.txt
meyerj Apr 5, 2019
b9e8f3a
roscpp: replace ROSCPP_BOOST_CONDITION_VARIABLE and ROSCPP_BOOST_COND…
meyerj Apr 12, 2019
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13 changes: 11 additions & 2 deletions clients/roscpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -20,10 +20,19 @@ list(GET roscpp_VERSION_LIST 0 roscpp_VERSION_MAJOR)
list(GET roscpp_VERSION_LIST 1 roscpp_VERSION_MINOR)
list(GET roscpp_VERSION_LIST 2 roscpp_VERSION_PATCH)

configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ros/common.h.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros/common.h)

find_package(Boost REQUIRED COMPONENTS chrono filesystem system)

# Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
if(NOT APPLE AND NOT WIN32)
if(Boost_VERSION LESS 106700)
# CLOCK_MONOTONIC became the default in Boost 1.67:
# https://github.com/boostorg/thread/commit/1e84b978b2bb0aae830cc14533dea3b7ddda5cde
add_definitions(-DBOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC)
endif()
endif()

configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ros/common.h.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros/common.h)

include_directories(include ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/ros ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
# this is needed for use within a bazel workspace. See #1548 for details.
include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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5 changes: 2 additions & 3 deletions clients/roscpp/include/boost_161_condition_variable.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#ifndef BOOST_THREAD_CONDITION_VARIABLE_HPP
#define BOOST_THREAD_CONDITION_VARIABLE_HPP
#ifndef BOOST_161_THREAD_CONDITION_VARIABLE_HPP
#define BOOST_161_THREAD_CONDITION_VARIABLE_HPP

// condition_variable.hpp
//
Expand All @@ -13,7 +13,6 @@
#if defined(BOOST_THREAD_PLATFORM_WIN32)
#include <boost/thread/win32/condition_variable.hpp>
#elif defined(BOOST_THREAD_PLATFORM_PTHREAD)
//#include <boost/thread/pthread/condition_variable.hpp>
#include "boost_161_pthread_condition_variable.h"
#else
#error "Boost threads unavailable on this platform"
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210 changes: 80 additions & 130 deletions clients/roscpp/include/boost_161_pthread_condition_variable.h
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