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rosbag play: added option wait-for-subscriber#959
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dirk-thomas merged 4 commits intoros:kinetic-develfrom Jan 17, 2017
Merged
rosbag play: added option wait-for-subscriber#959dirk-thomas merged 4 commits intoros:kinetic-develfrom
dirk-thomas merged 4 commits intoros:kinetic-develfrom
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dirk-thomas
reviewed
Jan 13, 2017
tools/rosbag/src/play.cpp
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| ("pause-topics", po::value< std::vector<std::string> >()->multitoken(), "topics to pause playback on") | ||
| ("bags", po::value< std::vector<std::string> >(), "bag files to play back from"); | ||
| ("bags", po::value< std::vector<std::string> >(), "bag files to play back from") | ||
| ("wait-for-subscribers", "wait for subscribers before publishing"); |
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Maybe update the text to wait for at least one subscriber on each topic before publishing to make the condition clearer to the user.
Same for the Python help text.
| foreach(const value_type& pub, publishers_) { | ||
| all_topics_subscribed &= pub.second.getNumSubscribers() > 0; | ||
| } | ||
| } |
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Is this loop busy waiting? If yes, something less resource intensive might be good.
mikepurvis
reviewed
Jan 13, 2017
tools/rosbag/src/player.cpp
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| std::cout << "Waiting for subscribers." << std::endl; | ||
| while (!all_topics_subscribed) { | ||
| all_topics_subscribed = true; | ||
| typedef std::pair<std::string, ros::Publisher> value_type; |
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Might be cleaner to typedef std::map<std::string, ros::Publisher> PublisherMap in the header, and then here you can use PublisherMap::value_type directly in the for loop without needing this duplicated definition.
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Thank you for the contribution! |
ggallagher01
pushed a commit
to clearpathrobotics/ros_comm
that referenced
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Jan 26, 2017
* rosbag play: added option wait-for-subscriber * rosbag play: improved help-text of wait-for-subscribers-option * rosbag play: added typedef PublisherMap * rosbag play: mitigated busy waiting by introducing delay
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Added an option
--wait-for-subscriber. If this option is chosen,rosbag playwill wait before publishing until every topic has at least one subscriber. This is pretty useful in tests usingrostestif one wants to make sure that no message is dropped because of missing subscribers.