Switch from bind to lambda for timer callback #43
Conversation
| original_map_pub_->publish(std::move(msg)); | ||
| } | ||
| }; | ||
| timer_ = this->create_wall_timer(5s, timer_callback); |
There was a problem hiding this comment.
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?
There was a problem hiding this comment.
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.
Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55
force-pushed
the
bind-to-lambda
branch
from
3d4c3f1
to
a36fb88
Compare
Done. |
Purpose
This switches from using bind to lambda for setting up a timer callback. In the past month, ROS 2 tutorials have been all migrated to lambda.
Why? Placeholders are hard to read, and disables some compile time checks.
And: ros2/rclcpp#1701
Risk
None