Fix throttle publish first message#1943
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I've just sent another commit that improve the wait for subscribers logic. The previous approach was only able to wait for a single subscriber, that could be anyone. The new one allows to wait for specific subscribers provided in a ROS param list: ac841a3 |
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@ros-pull-request-builder retest this please |
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@efernandez Please check the failing test which seems to be related to the patch. |
... before publishing the first message, so it does not get lost.
This is important so the first message is received by the subscribers, otherwise it is always lost.
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Rebased and fixed conflicts |
This comment is still pending. |
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Closing for now due to no further replies. Please feel free to comment on the closed ticket once the feedback has been addressed and the ticket can be reopened. |
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@dirk-thomas Sorry for not addressing the broken test sooner. I just updated the branch and openned #2088 |
The
throttlenode fromtopic_toolsfails to publish the first message because it doesn't wait for the subscribers.Technically, it doesn't have to wait for the subscribers, but it should at least wait some time for them. I've added a
1.0swait time, which seems reasonable to me, but I'm happy to make that a param if that makes more sense. I'm open to discuss that part of this change.The use case is illustrated in a new
rostest, that basically tries to only publish the first message, by using a very low frequency withthrottle messages.