Port the "Add reset to batch optimizer" patch to ROS 2 Rolling #361
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svwilliams
commented
Mar 21, 2024
| //!< before being applied to the graph. | ||
| std::mutex combined_transaction_mutex_; //!< Synchronize access to the combined transaction | ||
| //!< across different threads | ||
| // Read-only after construction |
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I'm doing a bit of variable rearranging. This is not strictly required for this patch, but I wanted to mirror the FixedLagSmoother pattern in the BatchOptimizer.
| @@ -131,6 +131,11 @@ TEST_F(FixedLagIgnitionFixture, SetInitialState) | |||
| pose_msg1.pose.covariance[35] = 1.0; | |||
| relative_pose_publisher->publish(pose_msg1); | |||
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| /// @todo(swilliams) There is a timing or message queuing issue. This sleep "solves" | |||
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This unrelated unit test was failing on my machine. It appears to be a timing or message queue issue. The Pose2D sensor is only receiving the second published messages with a timestamp of 3.0s. The previous message with a timestamp of 2.0s is never processed. As a quick fix, I just added a delay. But this seems like a problem that should be fixable by changing a message queue size somewhere.
carlos-m159
approved these changes
Mar 21, 2024
DavidLocus
approved these changes
Mar 21, 2024
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Port the "Add reset to batch optimizer" patch (#360) to ROS 2 Rolling