cache tf_prefix #201
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cache tf_prefix #201
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sloretz
reviewed
Oct 12, 2022
| @@ -87,7 +87,8 @@ class JointStateListener { | |||
| MimicMap mimic_; | |||
| bool use_tf_static_; | |||
| bool ignore_timestamp_; | |||
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| std::string tf_prefix_; | |||
| bool tf_prefix_cached_; | |||
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Adding these members changes the size of the class, and that breaks ABI. This will have to be stored somewhere else so we can release it into Noetic.
One solution I've seen is to create a static global map in the .cpp file where the key is the this pointer, and the value is the things we want to store per class instance.
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Thank you for your quick review!
I've put a minimal thread-safe map and stored (this, tf_prefix) in the callback. The entry is deleted in the destructor.
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On every joint_state callback, the node searches
tf_prefixparameter, and it loads an unignorable impact on roscore processes.This patch caches the result of the first search of tf_prefix. A downside is that we cannot update tf_prefix dynamically anymore (anyone does?).
ref. #200