Enable CallbackQueue in tf2_ros::MessageFilter

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Assessment

Difficulty
4/5
Estimated time
3-5 days
Newbie friendliness
35/100
Issue type
Feature
Clarity
Needs clarification
Activity status
Stale
Tech stack
cpp
Domain
robotics

Research direction

Start at tf2_ros::MessageFilter and the TODO described as remaining from PR #81, then read the callback-group support introduced by rclcpp PR #1218. Done means callback-queue behavior is enabled for MessageFilter in ROS 2 and the original reason for leaving it disabled is addressed.

Written by the indexing model from the issue text.

Description

backlog

Feature request

Feature description
  • PR #81 ported most of MessageFilter to ROS 2, but there was a TODO for @clalancette to "reenable this once we have underlying support for callback queues" (merged November 2018)
  • https://github.com/ros2/rclcpp/pull/1218 added support for callback groups (merged September 2020)
Implementation considerations
  • I don't know if there's any particular reason that this has not been ported yet, or whether it causing the problem I'm seeing at this exact moment, but I figured it should at least be documented.
Dominant language
C++
Stars
153
Forks
256
Avg merge
3d 23h
Merged PRs (30d)
14

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