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Add Publish Action#20

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tonynajjar merged 4 commits intohumblefrom
collision-monitor-add-publish-action
Mar 22, 2023
Merged

Add Publish Action#20
tonynajjar merged 4 commits intohumblefrom
collision-monitor-add-publish-action

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@tonynajjar tonynajjar commented Mar 22, 2023 •
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@tonynajjar tonynajjar requested a review from saraalarab1 March 22, 2023 11:47
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tonynajjar commented Mar 22, 2023

POC works, just need to do some more checks

Tony Najjar added 3 commits March 22, 2023 13:25
@tonynajjar tonynajjar removed the draft label Mar 22, 2023
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tonynajjar commented Mar 22, 2023

Ready for review. We'll need to think of a cleaner solution long-term

jplapp
jplapp approved these changes Mar 22, 2023
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This looks great and I think of all our discussed approaches, this is the nicest one

Regarding the nav2 generalization - I think one would also need to think about how to abstract the "trigger" so whether using a topic , some fixed interval, or e.g. an update from the input topics

@tonynajjar tonynajjar merged commit 8996e15 into humble Mar 22, 2023
jplapp
jplapp reviewed Mar 23, 2023
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nav2_collision_monitor/src/collision_monitor_node.cpp
for (std::shared_ptr<Polygon> polygon : polygons_) {
if (polygon->getActionType() == PUBLISH) {
timer_ = this->create_wall_timer(
100ms,
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on second thought, I think it would be nice to be able to configure this interval, depending on the application also a reduced frequency could be used, e.g. 5Hz or 2Hz to further reduce CPU impact

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at 10 Hz the CPU usage was not more than 10%. But I can surely still add it if you see it necessary

tonynajjar pushed a commit that referenced this pull request Jun 27, 2023
Revert "Merge pull request #20 from logivations/collision-monitor-add…
5420aa4 
…-publish-action"

This reverts commit 8996e15, reversing
changes made to 617f60a.
tonynajjar pushed a commit that referenced this pull request Jul 20, 2023
Revert "Merge pull request #20 from logivations/collision-monitor-add…
0c9a5bf 
…-publish-action"

This reverts commit 8996e15, reversing
changes made to 617f60a.
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@jplapp jplapp jplapp approved these changes

@andriimaistruk andriimaistruk Awaiting requested review from andriimaistruk

@saraalarab1 saraalarab1 Awaiting requested review from saraalarab1

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