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Revert usage of tf listener node in favor of callback group #881

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Revert usage of tf listener node in favor of callback group #881

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12 changes: 2 additions & 10 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 @@ -130,16 +130,8 @@ void TFWrapper::initialize(
bool using_dedicated_thread)
{
initializeBuffer(clock, rviz_ros_node.lock()->get_raw_node(), using_dedicated_thread);
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);
} else {
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
*buffer_, rviz_ros_node.lock()->get_raw_node(), false);
}
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
*buffer_, rviz_ros_node.lock()->get_raw_node(), using_dedicated_thread);
}

void TFWrapper::initializeBuffer(
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