Prevent robot_state_publisher from publishing on a timer #175
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Signed-off-by: wep21 <[email protected]>
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@clalancette Is the behavior change of this PR still too big to merge into |
| @@ -95,7 +95,6 @@ class RobotStatePublisher : public rclcpp::Node | |||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr description_pub_; | |||
| std::chrono::milliseconds publish_interval_ms_; | |||
| rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_; | |||
| rclcpp::TimerBase::SharedPtr timer_; | |||
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Removing a class member breaks ABI, so this line can't be backported.
| @@ -148,9 +148,7 @@ RobotStatePublisher::RobotStatePublisher(const rclcpp::NodeOptions & options) | |||
| &RobotStatePublisher::callbackJointState, this, | |||
| std::placeholders::_1)); | |||
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| // trigger to publish fixed joints | |||
| timer_ = this->create_wall_timer( | |||
| publish_interval_ms_, std::bind(&RobotStatePublisher::publishFixedTransforms, this)); | |||
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IIUC if use_tf_static is False then the fixed transforms must be published regularly or they will not be received by late joining subscribers.
I think creating the timer only when use_tf_static is False would be a backportable change.
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
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@sloretz @clalancette friendly ping |
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CI:
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Failures on Windows CI are unrelated to this change. But since Windows is the most likely to have problems, I'm going to wait until Windows is fixed and re-run it before merging. |
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@clalancette Could you do bloom-release for |
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Done in ros/rosdistro#31336 |
Backport a part of #158 to
galacticRefer #158 (comment)