Adding static transform listener #673
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ahcorde
approved these changes
Apr 26, 2024
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@clalancette any comments on this one ? |
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@clalancette friendly ping 🧇 |
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@clalancette do you mind to take a look ? |
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friendly ping @clalancette |
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Hello! Not wanting to be difficult at all, but as we're approaching the 3-month mark for this PR, it would be really great if we could either approve it or reject it. If we're not happy with the overall implementation, I am happy to change it (or just close the PR, if we feel this changes too much). Thanks! |
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friendly ping @clalancette |
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Addressses #662.
I went with @clalancette's suggestion and just added a
static_onlyparameter (with a default offalse) to the constructors and theinitmethod.However, that made things slightly awkward, for two reasons:
static_only, we have to now specify a ton of other optional parameters.static_onlytotrue, we now have to specify parameters for the behaviour of the dynamic transform subscriber, even though it won't be used. That felt clunky.So in addition to the above, I also created a "convenience" class,
StaticTransformListener. It inherits fromTransformListenerand has equivalent constructors (but without the dynamic subscriber parameters). It simply calls the baseTransformListenerconstructor with the required parameters, using dummy values for the dynamic transform subscriber options and QoS.In addition, I added tests:
TransformListenertests, which seem largely aimed at just constructing listeners, rather than using them.TransformListenerand aStaticTransformListener. We publish dynamic and static transforms, and then check to see if the respective dynamic and static buffers have the transforms we expect.