feat(default_ad_api_helpers): use polling subscriber #7416
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Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
Signed-off-by: Sho Iwasawa <sho.iwasawa.2@tier4.jp>
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| const rclcpp::Time current_time = this->get_clock()->now(); | ||
| auto fixed_goal_msg = sub_fixed_goal_.takeData(); | ||
| auto rough_goal_msg = sub_rough_goal_.takeData(); | ||
| auto waypoint_msg = sub_waypoint_.takeData(); |
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This change reduces waypoint throughput. Only one waypoint can be added per timer period. Also, information about the order of arrival of waypoints and goals is lost. Waypoints and goal must be processed in the order in which they arrive.
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Thank you for taking the time to review my PR.
I understand your concerns regarding the usage of take().
Therefore, I will close this PR.
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Description
The same as #6997 based on the discussion, the polling subscriber is used in the default_ad_api_helpers.
Tests performed
psim test were performed
Effects on system behavior
Nothing but more efficient CPU usage
Interface changes
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