Proposer: Josh F
Present at review:
- Jack O'Quin
Question / concerns / comments
Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.
The Subscriber and Publisher have radically different APIs. subscribe vs initialize to connect, the publisher requires creating a ros::Publisher and the Subscriber is initialized straight from the NodeHandle.
Is it okay to call ros::rt::init() multiple times?
- [Josh] Yes
Jack would it be possible to provide a callback version of subscribe? That could make it more straightforward to convert regular ROS nodes to RT nodes. I'm just imagining polling each subscribed topic in the (presumably real-time) main thread when it calls spinOnce().
- [Josh] I don't know that this is actually that useful... the requirements of realtime mean this is likely the least of your problems if you're converting a node over. You'd end up having to "poll" each subscriber, calling the callback if necessary instead of returning the message, which doesn't seem like a big win to me. If you can come up with a need for it I can look into it but definitely not for the initial release.
Josh should this move from the ros::rt namespace into the rosrt namespace?
To be filled out by proposer based on comments gathered during API review period
Package status change mark change manifest)
Action items that need to be taken.
Major issues that need to be resolved
- * /!\ Change ros::rt
- to rosrt::
Make publisher always copy messages from pool
Add simple constructor to Publisher that's the "common" form of advertise()
Add optional rosrt::shutdown()