g_main_loop_new

GLib
spin

asked 2016-06-07 16:04:04 -0600

I have an object that uses glib (g_main_loop_new) for its callbacks that i want to use to build a ROS node. How does the two loops spin and g_main_loop_run run at the same time?.

until now I have try this:

GMainLoop* main_loop = NULL;
main_loop = g_main_loop_new (NULL, FALSE);
thread t(g_main_loop_run, main_loop);   
ros::spin();
t.join();

But just main_loop seams to be runing.

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1

answered 2019-10-01 13:44:59 -0600

mwenger
36 ●4 ●2

updated 2019-10-30 10:58:55 -0600

I realize this was asked a while back, but in case anyone is still struggling with a similar issue, something like the following is working for me...

glib_mainloop = g_main_loop_new (NULL, false);
glib_context = g_main_context_default();

while (ros::ok())
 {
    g_main_context_iteration(glib_context, false);
    ros::spinOnce();

  // sleep for a while to avoid maxing out CPU
   std::this_thread::sleep_for(std::chrono::milliseconds(20));
}

g_main_loop_unref (glib_mainloop);

The idea here is that for each loop of the while statement, the glib main loop is iterated once, followed by a single interation of the ROS loop.