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Use single item queue for unreliable topics #254

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merged 2 commits into from
Feb 20, 2019

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mvollrath
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When visualizing topics where the entire state is contained in each message, we only care about the most recent state. Using a single item queue allows the server to replace a pending outgoing message with a newer message, instead of guaranteeing that every message is sent.

These visualizers are now unreliable:

  • OccupancyGrid
  • Odometry
  • Path
  • Point
  • Polygon
  • Pose
  • PoseArray
  • PoseWithCovariance
  • LaserScan
  • NavSatFix
  • PointCloud2

Marker topics remain unqueued, since they have a stateful protocol.

In these cases we only want the most recent message.
@mvollrath mvollrath requested review from jihoonl and viktorku February 8, 2019 07:12
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@viktorku viktorku left a comment

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Ideally we should allow the queue_length to be overrided from the user via the options object, if omitted they can default to 1.

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@jihoonl jihoonl left a comment

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Agree with @viktorku's comment

@jihoonl jihoonl merged commit 2f858cf into RobotWebTools:develop Feb 20, 2019
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3 participants