tf2_ros/Buffer::canTransform: timout smaller than 10ms are not possible #281
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Yeah, that is a magic number that should be cleaned up. It might make sense to actually pick the sleep period in relation to the timeout in general, something like 100th of the timeout. The rate of polling needs to be traded off against performance. At the low end it will end up saturating at the minimum sleep period. And at the high end it would cause ~100 calls per timeout consistently. |
seanyen
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Dec 25, 2020
… (ros#330) * Clear callback from transformable_callbacks_ when callback is done or not needed Co-authored-by: marting87 <martinganeff@gmail.com> Co-authored-by: Matthijs den Toom <mdentoom@lely.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com>
seanyen
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Mar 22, 2021
* Make BufferCore callback handle maintenance internal. That is, there is really no reason for external users to know about TranformableCallbackHandle at all. Instead, hide all of the implementation detail about the handles within BufferCore itself. This gets simplifies the API, and allows us to ensure that cleanup happens properly. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
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Currently,
Buffer::canTransform's timeout is implemented by polling with a cycle of 0.01ms. Therefore shorter timeouts than 0.01ms are not possible.I would like to suggest that, if
time_out < 0.01ms, the polling-cycle should be adapted.At least, if not changed, this behavior should be documented anywhere...
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