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Fix growing CPU usage caused by buffer server #573

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Fix growing CPU usage caused by buffer server #573

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2f8715d
set result_timeout to 0
Dec 9, 2022
edebd79
Add TF buffer service
Dec 9, 2022
6530c38
Revert "Add TF buffer service"
Dec 12, 2022
f4c3b78
Merge branch 'ros2:rolling' into rolling
tonynajjar Feb 7, 2023
e5b91d2
Merge branch 'ros2:rolling' into rolling
tonynajjar Aug 16, 2023
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6 changes: 5 additions & 1 deletion tf2_ros/include/tf2_ros/buffer_server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,12 +82,16 @@ class BufferServer
: buffer_(buffer),
logger_(node->get_logger())
{
rcl_action_server_options_t action_server_ops = rcl_action_server_get_default_options();
action_server_ops.result_timeout.nanoseconds = (rcl_duration_value_t)RCL_S_TO_NS(0);
server_ = rclcpp_action::create_server<LookupTransformAction>(
node,
ns,
std::bind(&BufferServer::goalCB, this, std::placeholders::_1, std::placeholders::_2),
std::bind(&BufferServer::cancelCB, this, std::placeholders::_1),
std::bind(&BufferServer::acceptedCB, this, std::placeholders::_1));
std::bind(&BufferServer::acceptedCB, this, std::placeholders::_1),
action_server_ops
);

check_timer_ = rclcpp::create_timer(
node, node->get_clock(), check_period, std::bind(&BufferServer::checkTransforms, this));
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