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Add lazy subscription to republisher #325

Merged
merged 3 commits into from
Oct 1, 2024
Merged

Add lazy subscription to republisher #325

merged 3 commits into from
Oct 1, 2024

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bjsowa
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@bjsowa bjsowa commented Sep 28, 2024 •
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This PR add lazy subscription to republisher node using matched publisher events.

A simple use case I have in mind:

  1. I have a camera driver which retrieves jpeg-compressed images from camera and publishes them on image/compressed topic.
  2. I want to provide image topic with raw images for any nodes that need it.
  3. I don't want to decompress the images when there is no node which currently need the raw images.

@bjsowa bjsowa marked this pull request as ready for review September 28, 2024 17:00
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ahcorde commented Sep 30, 2024

Pulls: #325
Gist: https://gist.githubusercontent.com/ahcorde/ed51c8a243a19c12f785a5912015644a/raw/7c76f55edaf8c06810bb1cadf4471b0a29e374b8/ros2.repos
BUILD args: --packages-above-and-dependencies image_transport --packages-above-and-dependencies image_transport
TEST args: --packages-above image_transport --packages-above image_transport
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14631

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
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ahcorde commented Oct 1, 2024 •
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit 6cec0b6 into ros-perception:rolling Oct 1, 2024
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@bjsowa bjsowa mentioned this pull request Oct 2, 2024
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ahcorde commented Oct 4, 2024

https://github.com/Mergifyio backport jazzy

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mergify bot commented Oct 4, 2024 •
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backport jazzy

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Oct 4, 2024
@bjsowa @mergify
Add lazy subscription to republisher (#325)
43bc8e5 
(cherry picked from commit 6cec0b6)
@mergify mergify bot mentioned this pull request Oct 4, 2024
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ahcorde pushed a commit that referenced this pull request Oct 15, 2024
@mergify @bjsowa
Add lazy subscription to republisher (backport #325) (#327)
d04d2c8 
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
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@ahcorde ahcorde ahcorde approved these changes

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@bjsowa @ahcorde