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Add lazy subscription to republisher #325

Merged

ahcorde merged 3 commits into ros-perception:rolling from bjsowa:republisher-lazy-subscription

Oct 1, 2024

+41 −16

Contributor

bjsowa commented Sep 28, 2024 •

edited

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This PR add lazy subscription to republisher node using matched publisher events.

A simple use case I have in mind:

I have a camera driver which retrieves jpeg-compressed images from camera and publishes them on image/compressed topic.
I want to provide image topic with raw images for any nodes that need it.
I don't want to decompress the images when there is no node which currently need the raw images.

bjsowa added 3 commits

September 28, 2024 12:05


          Add lazy subscription to republisher when publishing using single tra…

1f58a06

…nsport


          Add lazy subscription to republish when publishing using all transports

00e6f90


          Add mutex for matched callback

91fe675

bjsowa marked this pull request as ready for review

September 28, 2024 17:00

ahcorde approved these changes

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Collaborator

ahcorde commented Sep 30, 2024

Pulls: #325
Gist: https://gist.githubusercontent.com/ahcorde/ed51c8a243a19c12f785a5912015644a/raw/7c76f55edaf8c06810bb1cadf4471b0a29e374b8/ros2.repos
BUILD args: --packages-above-and-dependencies image_transport --packages-above-and-dependencies image_transport
TEST args: --packages-above image_transport --packages-above image_transport
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14631

Linux
Linux-aarch64
Linux-rhel
Windows

Collaborator

ahcorde commented Oct 1, 2024 •

edited

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Linux
Linux-aarch64
Linux-rhel
Windows

ahcorde merged commit 6cec0b6 into ros-perception:rolling

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