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Add reentrant callback group to lidar, cameras and airsim control timers #4559

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Add reentrant callback group to lidar, cameras and airsim control timers #4559

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3 changes: 2 additions & 1 deletion ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ class AirsimROSWrapper
CAR
};

AirsimROSWrapper(const std::shared_ptr<rclcpp::Node> nh, const std::shared_ptr<rclcpp::Node> nh_img, const std::shared_ptr<rclcpp::Node> nh_lidar, const std::string& host_ip);
AirsimROSWrapper(const std::shared_ptr<rclcpp::Node> nh, const std::shared_ptr<rclcpp::Node> nh_img, const std::shared_ptr<rclcpp::Node> nh_lidar, const std::string& host_ip, const std::shared_ptr<rclcpp::CallbackGroup> callbackGroup);
~AirsimROSWrapper(){};

void initialize_airsim();
Expand Down Expand Up @@ -317,6 +317,7 @@ class AirsimROSWrapper
std::shared_ptr<rclcpp::Node> nh_;
std::shared_ptr<rclcpp::Node> nh_img_;
std::shared_ptr<rclcpp::Node> nh_lidar_;
std::shared_ptr<rclcpp::CallbackGroup> cb_;

// todo not sure if async spinners shuold be inside this class, or should be instantiated in airsim_node.cpp, and cb queues should be public
// todo for multiple drones with multiple sensors, this won't scale. make it a part of VehicleROS?
Expand Down
23 changes: 5 additions & 18 deletions ros2/src/airsim_ros_pkgs/src/airsim_node.cpp
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Expand Up @@ -11,25 +11,12 @@ int main(int argc, char** argv)
std::shared_ptr<rclcpp::Node> nh_lidar = nh->create_sub_node("lidar");
std::string host_ip;
nh->get_parameter("host_ip", host_ip);
AirsimROSWrapper airsim_ros_wrapper(nh, nh_img, nh_lidar, host_ip);
auto callbackGroup = nh->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
AirsimROSWrapper airsim_ros_wrapper(nh, nh_img, nh_lidar, host_ip, callbackGroup);

if (airsim_ros_wrapper.is_used_img_timer_cb_queue_) {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_img);
while (rclcpp::ok()) {
executor.spin();
}
}

if (airsim_ros_wrapper.is_used_lidar_timer_cb_queue_) {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_lidar);
while (rclcpp::ok()) {
executor.spin();
}
}

rclcpp::spin(nh);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(nh);
executor.spin();

return 0;
}
9 changes: 5 additions & 4 deletions ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ const std::unordered_map<int, std::string> AirsimROSWrapper::image_type_int_to_s
{ 7, "Infrared" }
};

AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node> nh, const std::shared_ptr<rclcpp::Node> nh_img, const std::shared_ptr<rclcpp::Node> nh_lidar, const std::string& host_ip)
AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node> nh, const std::shared_ptr<rclcpp::Node> nh_img, const std::shared_ptr<rclcpp::Node> nh_lidar, const std::string& host_ip, const std::shared_ptr<rclcpp::CallbackGroup> callbackGroup)
: is_used_lidar_timer_cb_queue_(false)
, is_used_img_timer_cb_queue_(false)
, airsim_settings_parser_(host_ip)
Expand All @@ -35,6 +35,7 @@ AirsimROSWrapper::AirsimROSWrapper(const std::shared_ptr<rclcpp::Node> nh, const
, nh_(nh)
, nh_img_(nh_img)
, nh_lidar_(nh_lidar)
, cb_(callbackGroup)
, isENU_(false)
, publish_clock_(false)
{
Expand Down Expand Up @@ -109,7 +110,7 @@ void AirsimROSWrapper::initialize_ros()

nh_->declare_parameter("vehicle_name", rclcpp::ParameterValue(""));
create_ros_pubs_from_settings_json();
airsim_control_update_timer_ = nh_->create_wall_timer(std::chrono::duration<double>(update_airsim_control_every_n_sec), std::bind(&AirsimROSWrapper::drone_state_timer_cb, this));
airsim_control_update_timer_ = nh_->create_wall_timer(std::chrono::duration<double>(update_airsim_control_every_n_sec), std::bind(&AirsimROSWrapper::drone_state_timer_cb, this), cb_);
}

void AirsimROSWrapper::create_ros_pubs_from_settings_json()
Expand Down Expand Up @@ -310,15 +311,15 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
double update_airsim_img_response_every_n_sec;
nh_->get_parameter("update_airsim_img_response_every_n_sec", update_airsim_img_response_every_n_sec);

airsim_img_response_timer_ = nh_img_->create_wall_timer(std::chrono::duration<double>(update_airsim_img_response_every_n_sec), std::bind(&AirsimROSWrapper::img_response_timer_cb, this));
airsim_img_response_timer_ = nh_img_->create_wall_timer(std::chrono::duration<double>(update_airsim_img_response_every_n_sec), std::bind(&AirsimROSWrapper::img_response_timer_cb, this), cb_);
is_used_img_timer_cb_queue_ = true;
}

// lidars update on their own callback/thread at a given rate
if (lidar_cnt > 0) {
double update_lidar_every_n_sec;
nh_->get_parameter("update_lidar_every_n_sec", update_lidar_every_n_sec);
airsim_lidar_update_timer_ = nh_lidar_->create_wall_timer(std::chrono::duration<double>(update_lidar_every_n_sec), std::bind(&AirsimROSWrapper::lidar_timer_cb, this));
airsim_lidar_update_timer_ = nh_lidar_->create_wall_timer(std::chrono::duration<double>(update_lidar_every_n_sec), std::bind(&AirsimROSWrapper::lidar_timer_cb, this), cb_);
is_used_lidar_timer_cb_queue_ = true;
}

Expand Down