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Use dedicated TransformListener thread #551
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jacobperron
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ros2:ros2
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ymd-stella:use-dedicated-tf-listener-thread
Jun 17, 2020
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This will actually create a new node, did you try what happens if you just use
std::make_shared<tf2_ros::TransformListener>( *buffer_, rviz_ros_node.lock()->get_raw_node(), true);
- shouldn't this already spin the TransformListener in a dedicated thread?There was a problem hiding this comment.
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Node has already been added to an executor.
was shown.relevant code:
rviz/rviz_common/src/rviz_common/visualization_manager.cpp
Line 236 in 0dc0f5b
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Okay, I see... So the correct way to solve this should be to actually make RViz multi-threaded and spin the transformer callback in its own thread then (and more often than e.g. the update loop).
I guess this is a much more subtle undertaking, so I would propose:
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If you provide the concrete comment, I'll add them to this PR. (I don't know the format of the TODO comments on this project.)
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No real schema except for linters. The following should do (you can also add your name, but I find the naming inconsistent, it's just enforced by cpplint)
You'll probably need to split it up into multiple lines.
@jacobperron The error analysis seems sound and the solution works on several machines. When this got ported we explicitly avoided making new nodes if possible, but making RViz multithreaded requires much more work, since this is an issue many people complained about, I think this is a good compromise - unless @ymd-stella wants to jump in and do this of course.
Maybe you could take a quick look?
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I agree that a multithreaded executor sounds like the best way to go. I'm okay with merging this workaround in the meantime with a TODO as you suggest.
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I've added the comment. I've written
TODO(pull/551)
to make it easier for those who found it to look up the details.