Create a new MutuallyExclusive callback group for every timer, use a multithreaded executor #40
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…multithreaded executor
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I will review and approve today. |
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Hi @nikola-j! Can please share a benchmark for a camera topic with and without that fix? |
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I get 20hz with and without the fix. It seems that by default the camera processing has a higher priority than drone control and that's why the drone is stuttering. |
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Fixes: microsoft#4428
Fixes: microsoft#4569 (comment)
About
This will fix the issue by using a multithreaded executor and adding a MutuallyExclusive callback group to every lidar, camera, and airsim control timer. That way they can all execute in parallel and not block each other. Also removed unreachable code in airsim_node.cpp.
This pr also fixes the issue of timestamps being mixed up, the previous iteration used reentrant callbacks which allowed out-of-order execution of timers.
How Has This Been Tested?
Added a settings file with multiple cameras and a lidar, did a /airsim_node/local_position_goal service call.
Screenshots (if appropriate):
The following are two videos depicting ros2 performance with and without the fixes:
https://drive.google.com/file/d/1uIuTfWGhaD56h-wfzxXaOMoVkZL451wI/view?usp=sharing
https://drive.google.com/file/d/1M9JUGOquZmnV6HBqtH7uRjbOCeHgpJfi/view?usp=share_link