Add an optional callback parameter to get notified of intercepted messages #1
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ottojo
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Sep 5, 2023
ros2/orchestrator/orchestrator/orchestrator_lib/orchestrator.py
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ros2/orchestrator/orchestrator/orchestrator_lib/orchestrator.py
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janstrohbeck
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Co-authored-by: Jonas Otto <[email protected]>
ottojo
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Sep 5, 2023
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This allows the data source to get notified when a message was received at the orchestrator. I use this to save all received messages to JSON files, to compare the outputs of nodes across runs. Could also potentially be used for other purposes. Messages may have to be decoded in case of raw subscriptions, which is why the topic type is also passed to the callback.