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Switch from bind to lambda for timer callback #43

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Jan 17, 2024
Merged

Switch from bind to lambda for timer callback #43

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14 changes: 8 additions & 6 deletions src/test_tif_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,15 +60,17 @@ class MapPublisher : public rclcpp::Node {

map_ = std::make_shared<GridMapGeo>();
map_->Load(file_path, false, color_path);
timer_ = this->create_wall_timer(5s, std::bind(&MapPublisher::timer_callback, this));
auto timer_callback = [this]() -> void {
auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap());
if (msg) {
msg->header.stamp = now();
original_map_pub_->publish(std::move(msg));
}
};
timer_ = this->create_wall_timer(5s, timer_callback);
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Interesting,

I think for this node it makes a lot of sense since there is not much going on. How much does this apply for general controllers that need to run on a fixed schedule? For me just slightly weird that you would have all the logic implemented in the constructor?

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Yea, it's still possible to have a separate member function to call the timer if we want, and this can be called from outside the class (in main) if it's public scope. Currently, for this node, where the grid_map data is fixed at runtime, the rate of publish does not matter, so I just made it simple and did all the work in the constructor.

Happy to change if you are not a fan.

}

private:
void timer_callback() {
auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap());
msg->header.stamp = now();
original_map_pub_->publish(std::move(msg));
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr original_map_pub_;
std::shared_ptr<GridMapGeo> map_;
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