What is the tf threading model?
I want to use it in a single threaded node.
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A TransformListener class is continuously listening for incoming coordinate transforms from TransformBroadcasters. Any blocking call would severely disrupt the flow of information to the listener. Therefore,
a transform listener, by default, spins its own thread. This particularly helps with calls to functions like tf::Transformer::waitForTransform which can block callbacks while it is waiting to hear back from tf.
tf::Transformer, tf::TransformListener and tf::TransformSender all use mutex locks to be threadsafe.tf::Transformer::waitForTransform requires a dedicated listening thread (provided by default by tf::TransformListener)If TransformListener spins a thread it will only service callbacks in the custom callback queue for the tf topic.
What does that mean for the case, when there is a TransformListener, but no other ros spinning going on with respect to other subscribers (i.e. not tf). The TransformListener will get its tf data via its on spinning thread.
Will other callbacks from other subscribers be called although there is no one explictly spinning?
Asked: 2011-03-18 14:54:27 -0600
Seen: 1,702 times
Last updated: Mar 19 '11
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