[ROS2] Missing lazy subscription headers
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backlog
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- C++
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Description
Feature request
Feature description
- migrating nodelet_topic_tools headers or equivalent alternative
nodelet_demux.h nodelet_lazy.h nodelet_mux.h nodelet_throttle.h - related issues/discussions
- https://github.com/ros-perception/image_pipeline/issues/780
- https://github.com/ros-perception/perception_pcl/pull/385#discussion_r1041549677
- perception_pcl uses demux, lazy, and mux
- https://answers.ros.org/question/286069/implementing-subscriberstatuscallback-within-ros2/
- https://www.robotandchisel.com/2020/07/29/five-things-ros2/#subscriber-connect-callbacks
Implementation considerations
- maybe in
include/rclcpp/topic_toolsor any better place/way? - currently, polling is needed for lazy subscription - workaround sample
- this enhancement would enable us to use subscription callback like ROS1
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by comparing the ROS1 nodelet_topic_tools headers—nodelet_demux.h, nodelet_lazy.h, nodelet_mux.h, and nodelet_throttle.h—with the current ROS2 options, including include/rclcpp/topic_tools and the polling workaround. Read the linked image_pipeline, perception_pcl, answers.ros.org, and ros2/rmw discussions to determine the required subscription-callback behavior. Done should mean an agreed ROS2 equivalent or alternative with its scope clearly defined.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- api
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100