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Use dedicated TransformListener thread #551

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Merged
jacobperron merged 1 commit into from
Jun 17, 2020
Merged

Use dedicated TransformListener thread #551

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12 changes: 10 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,8 +123,16 @@ void TFWrapper::initialize(
bool using_dedicated_thread)
{
initializeBuffer(clock, rviz_ros_node.lock()->get_raw_node(), using_dedicated_thread);
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
*buffer_, rviz_ros_node.lock()->get_raw_node(), false);
if (using_dedicated_thread) {
// TODO(pull/551): The TransformListener needs very quick spinning so it uses its own node
// here. Remove this in favor of a multithreaded spinner and ensure that the listener callback
// queue does not fill up.
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
*buffer_, true);

@Martin-Idel Martin-Idel Jun 11, 2020

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This will actually create a new node, did you try what happens if you just use std::make_shared<tf2_ros::TransformListener>( *buffer_, rviz_ros_node.lock()->get_raw_node(), true); - shouldn't this already spin the TransformListener in a dedicated thread?

@ymd-stella ymd-stella Jun 11, 2020 •
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Node has already been added to an executor. was shown.
relevant code:

@Martin-Idel Martin-Idel Jun 15, 2020 •
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Okay, I see... So the correct way to solve this should be to actually make RViz multi-threaded and spin the transformer callback in its own thread then (and more often than e.g. the update loop).

I guess this is a much more subtle undertaking, so I would propose:

@ymd-stella ymd-stella Jun 16, 2020 •
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Add a "todo" comment that this actually introduces a new node and should be done via threading,

If you provide the concrete comment, I'll add them to this PR. (I don't know the format of the TODO comments on this project.)

@Martin-Idel Martin-Idel Jun 16, 2020

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No real schema except for linters. The following should do (you can also add your name, but I find the naming inconsistent, it's just enforced by cpplint)

TODO(anyone): The TransformListener needs very quick spinning so it uses its own node here. Remove this in favor of a multithreaded spinner and ensure that the listener callback queue does not fill up.

You'll probably need to split it up into multiple lines.

@jacobperron The error analysis seems sound and the solution works on several machines. When this got ported we explicitly avoided making new nodes if possible, but making RViz multithreaded requires much more work, since this is an issue many people complained about, I think this is a good compromise - unless @ymd-stella wants to jump in and do this of course.
Maybe you could take a quick look?

@jacobperron jacobperron Jun 16, 2020 •
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I agree that a multithreaded executor sounds like the best way to go. I'm okay with merging this workaround in the meantime with a TODO as you suggest.

@ymd-stella ymd-stella Jun 17, 2020

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I've added the comment. I've written TODO(pull/551) to make it easier for those who found it to look up the details.

} else {
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
*buffer_, rviz_ros_node.lock()->get_raw_node(), false);
}
}

void TFWrapper::initializeBuffer(
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