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cache tf_prefix #201

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cache tf_prefix #201

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cf91833
cache rosparam tf_prefix
peroxyacyl Oct 5, 2022
c0275b1
ABI-safe tf_prefix cache
peroxyacyl Oct 13, 2022
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3 changes: 2 additions & 1 deletion include/robot_state_publisher/joint_state_listener.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,8 @@ class JointStateListener {
MimicMap mimic_;
bool use_tf_static_;
bool ignore_timestamp_;

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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12 changes: 8 additions & 4 deletions src/joint_state_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ JointStateListener::JointStateListener(const KDL::Tree& tree, const MimicMap& m,
}

JointStateListener::JointStateListener(const std::shared_ptr<RobotStatePublisher>& rsp, const MimicMap& m)
: state_publisher_(rsp), mimic_(m)
: state_publisher_(rsp), mimic_(m), tf_prefix_cached_(false)
{
ros::NodeHandle n_tilde("~");
ros::NodeHandle n;
Expand Down Expand Up @@ -92,15 +92,19 @@ JointStateListener::~JointStateListener()

std::string JointStateListener::getTFPrefix()
{
if (tf_prefix_cached_) {
return tf_prefix_;
}

ros::NodeHandle n_tilde("~");
std::string tf_prefix;

// get the tf_prefix parameter from the closest namespace
std::string tf_prefix_key;
n_tilde.searchParam("tf_prefix", tf_prefix_key);
n_tilde.param(tf_prefix_key, tf_prefix, std::string(""));
n_tilde.param(tf_prefix_key, tf_prefix_, std::string(""));
tf_prefix_cached_ = true;

return tf_prefix;
return tf_prefix_;
}

void JointStateListener::callbackFixedJoint(const ros::TimerEvent& e)
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