feat(aeb): replace InterProcessPollingSubscriber #6997
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
github-actions
bot
added
component:control
soblin
force-pushed
the
feat/aeb-use-no-exec-callback
branch
3 times, most recently
from
9b5eb8e to
ed1569a
Compare
soblin
requested review from
TakaHoribe,
tkimura4 and
takayuki5168
as code owners
Comment on lines
57
to
62
| bool is_latest_message_consumed = false; | ||
| // pop the queue until latest data | ||
| while (subscriber_->take(tmp, message_info)) { | ||
| is_latest_message_consumed = true; | ||
| } | ||
| if (is_latest_message_consumed) { |
There was a problem hiding this comment.
Any reason not to update data_ inside the while loop?
Comment on lines
46
to
51
| RCLCPP_WARN( | ||
| node->get_logger(), | ||
| "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient " | ||
| "serialization while updateLatestData()"); | ||
| } |
There was a problem hiding this comment.
I think this warning is not necessary since now the InterProcessPollingSubscriber can handle the topic whose depth is not 1.
There was a problem hiding this comment.
The user have the freedom to use this subscriber with depth > 1, but eventually he/she will not use the stacked obsolete data because getData returns only the latest data.
The purpose of this subscriber is to minimize the repeated serialization overheads in subscriber_->take(tmp, message_info), so if this warning appears then he's not using this as expected. This warning is printed only once in the constructor.
soblin
force-pushed
the
feat/aeb-use-no-exec-callback
branch
from
d9518d5 to
8c70042
Compare
soblin
requested review from
kosuke55,
satoshi-ota and
yuki-takagi-66
as code owners
github-actions
bot
added
the
component:planning
soblin
force-pushed
the
feat/aeb-use-no-exec-callback
branch
from
8c70042 to
1977b31
Compare
github-actions
bot
removed
component:planning
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
takayuki5168
approved these changes
May 17, 2024
soblin
added
the
run:build-and-test-differential
3 tasks
mitsudome-r
added a commit
to mitsudome-r/autoware.universe
that referenced
this pull request
May 27, 2024
…undation#6997)" This reverts commit 74da4c1.
4 tasks
This was referenced Jun 1, 2024
karishma1911
pushed a commit
to Interplai/autoware.universe
that referenced
this pull request
Jun 3, 2024
…6997) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
beyzanurkaya
pushed a commit
to beyzanurkaya/autoware.universe
that referenced
this pull request
Jun 4, 2024
…ndation#6997)" This reverts commit 74da4c1.
beyzanurkaya
pushed a commit
to beyzanurkaya/autoware.universe
that referenced
this pull request
Jun 4, 2024
…ndation#6997)" This reverts commit 74da4c1.
beyzanurkaya
pushed a commit
to beyzanurkaya/autoware.universe
that referenced
this pull request
Jun 5, 2024
…ndation#6997)" This reverts commit 74da4c1.
beyzanurkaya
pushed a commit
to beyzanurkaya/autoware.universe
that referenced
this pull request
Jun 5, 2024
…ndation#6997)" This reverts commit 74da4c1.
4 tasks
This was referenced Jun 6, 2024
This was referenced Jun 6, 2024
This was referenced Jun 7, 2024
4 tasks
4 tasks
4 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
replace the subscriber to InterProcessPollingSubscriber
Related links
depends #6976
https://tier4.atlassian.net/browse/RT1-5790
Tests performed
the module works as before
before
PR6997-2024-05-14_14.43.23.mp4
after
PR6997-2024-05-14_14.39.04.mp4
Notes for reviewers
Interface changes
none
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
none
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.