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Calling ROS subscriber callback functions from another function

callback

asked 2017-03-16 23:19:31 -0600

2ROS0

1133 ●70 ●89 ●102

Hi,

Is it OK (both technically and in terms of good programming practice) to call the callback function of a certain subscriber from within another function?

For example:

void callback(sensor_msgs::Image::ConstPtr & msg)
{
    /*do stuff*/
}

void otherFunction()
{
    sensor_msgs::Image::ConstPtr image_ptr;
    /*do stuff*/
    callback(image_ptr);
}

Thank you

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answered 2017-03-17 01:24:02 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

This should be ok, provided that you take care of potential concurrency issues that might arise due to your callback queues being driven by any kind of multithreaded spinners. As your callbacks could then be called in parallel, otherFunction(..) might call callback(..) at a point where callback(..) is already being executed by the callbackqueue instance(s) in your node.

If callback(..) performs any operations that must be atomic or has critical sections, you would need to add some mutual exclusion infrastructure to make sure that two calls to callback(..) can be executed in parallel.

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Asked: 2017-03-16 23:19:31 -0600

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Last updated: Mar 17 '17

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