Add throttle #20
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Add throttle #20
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Signed-off-by: wep21 <[email protected]>
emersonknapp
approved these changes
Dec 1, 2021
src/throttle_node.cpp
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| std::optional<std::pair<std::string, rclcpp::QoS>> ThrottleNode::try_discover_source() | ||
| { | ||
| auto publishers_info = this->get_publishers_info_by_topic(input_topic_); |
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it this copy-paste from the relay utility? If so, it seems to me that we might want to factor out a common-utilities lib to deduplicate any of the qos handling logic. Also going to call this non-blocking as I don't mind repeating a small amount of code once - but as soon as it's written a third time it should definitely be made reusable
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include/topic_tools/utilities.hpp
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| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef TOPIC_TOOLS__UTILITIES_HPP_ |
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does this need to be a public API? I would be inclined to hide it in src rather than exposing it publicly to consuming packages. That way we don't have to worry about breaking API/ABI if we change things.
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@emersonknapp I moved them into base node class.
added 6 commits
December 6, 2021 03:35
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
Signed-off-by: wep21 <[email protected]>
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emersonknapp
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Dec 8, 2021
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Closes #6