Adding stop and start functionality to the fixed lag smoother #362
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svwilliams
requested changes
Mar 22, 2024
needphpsql
approved these changes
Mar 25, 2024
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| { | ||
| stop(); | ||
| return true; | ||
| } | ||
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| bool FixedLagSmoother::startServiceCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&) | ||
| { | ||
| start(); | ||
| return true; | ||
| } |
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The request and response are not used. I assume this is only a stub for future filling in.
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Not a stub, there's just no information currently needed for a start or stop, the same as how the reset callback also doesn't use the request or response fields.
svwilliams
approved these changes
Apr 17, 2024
| @@ -497,6 +529,7 @@ void FixedLagSmoother::transactionCallback( | |||
| // ...check if we should | |||
| if (sensor_models_.at(sensor_name).ignition) | |||
| { | |||
| ROS_INFO_STREAM("Ignition occured"); | |||
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I have no opinions here whatsoever. Just asking questions:
Do you like this new log line printed all the time? Or would DEBUG be a better fit? Should the same message be implemented in the batch optimizer?
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Whoops, left this in by accident. I was testing... something, I don't remember what, and forgot to remove this. Doing that now
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This PR adds the ability to stop the fixed lag smoother and restart it at a later time, to keep it from consuming CPU when it's not needed.
This PR makes the assumption that whenever you restart the optimizer, any data that was previously held in the optimizer is no longer valid, and should be removed.