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Best practice: tf::Listener should be a global or local variable?

asked 2015-06-03 16:03:08 -0500

Stephane Caron
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Hi there,

I'm wondering: do tf::Listener or tf::Broadcaster variables take time to fire-up (e.g. because of topic subscription)?

It would be more convenient for me to declare a new tf::Listener whenever I need to lookup a tf (i.e. as a local variable), but I wonder if there are some performance issues in doing this.

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answered 2015-06-03 19:17:24 -0500

tfoote

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It's best for the tf::Listener or tf::Broadcaster to be members of a persistent class. They both require continuous operation. Broadcasters need to be remain constructed for as long as you're broadcasting. And listeners need time to receive messages before they are useful.

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Asked: 2015-06-03 16:03:08 -0500

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Last updated: Jun 03 '15

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Best practice: tf::Listener should be a global or local variable?