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Remove tf subscription from frame manager and use tf buffer instead #62

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Remove tf subscription from frame manager and use tf buffer instead #62

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@shrijitsingh99 shrijitsingh99 commented Oct 14, 2020 •
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Summary:

  1. Removes subscription of tf since buffer already does that internally
  2. Since now there is no way to generate an event on an update of tf frames, therefore fetch the latest frames from the frame manager when and where it is needed and not rely on events to automatically update the frames.
  3. Remove locks from functions that are mutually exclusive

@shrijitsingh99
Use TF Buffer to fetch frame pose instead of maintaining a custom map…
f53c8cd 
… of transformations

Also fixes the issues where the tf arrow glitched due to requesting data from tf buffer before it was populated

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
@shrijitsingh99
Remove all mutex locks in frame manager
12b9018 
Since in all the functions only data is being read and is not being written/updated so there is no need for any lock. 

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

Tf buffer itself is thread safe as well.
@shrijitsingh99
Remove frame list changed event
4ea2e7b 
Each plugin can fetch the latest frames from the frame mange as and when needed.
No need of listening to an event.

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
Sarath18
Sarath18 reviewed Oct 14, 2020
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Thank you for these improvements!

Please address the following comments.

ign_rviz_common/src/rviz/common/frame_manager.cpp Show resolved Hide resolved
ign_rviz_plugins/res/qml/TFDisplay.qml Outdated Show resolved Hide resolved
ign_rviz_common/include/ignition/rviz/common/rviz_events.hpp Outdated Show resolved Hide resolved
@shrijitsingh99
Add locks when reading fixed frames
7fe3018 
Since atomic operations aren't possible with strings, locks do the job

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
@shrijitsingh99
Create timer for generating events when frames are updated
e245e75 
Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
@shrijitsingh99
Revert to using event to monitor tf frames
dccf2f8 
Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
@shrijitsingh99
Remove timeout of 1 second when waiting for transform
b8c4c22 
Most plugins require the latest TF and and handle scenarios in case TF is unavailable so no need to wait for TF to become available

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
@Sarath18
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Thank you for adding back the FrameListChanged event. Can you revert the changes in the AxesDisplay plugin and GlobalOptions plugin to update Combo-box on receiving the event? Everything else looks good.

@Sarath18 Sarath18 mentioned this pull request Dec 2, 2020
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Base automatically changed from master to main March 8, 2021 21:56
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@shrijitsingh99 @Sarath18