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Refactor ROS2Sensor component data acquisition loops #295

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adamdbrw opened this issue Apr 24, 2023 · 3 comments
Closed

Refactor ROS2Sensor component data acquisition loops #295

adamdbrw opened this issue Apr 24, 2023 · 3 comments
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@PawelLiberadzki
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feature/robotics This item is related to robotics. kind/enhancement Enhancement to an existing feature. priority/major Major priority. Work that should be handled after all blocking and critical work is done. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation triage/accepted Indicates an issue or PR is ready to be actively worked on.

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@adamdbrw
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Is your feature request related to a problem? Please describe.
This is an enhancement to the architecture of current data acquisition mechanism in ROS2Sensor component as introduced with #254.

Describe the solution you'd like
I would like to increase encapsulation and reduce the amount of code that the implementer of ROS2Sensor subclass needs to be aware of in order to succeed. This involves replacing inheritance with composition where needed and implementing NVI for the loops if applicable.

Additional context
The dual mechanism is here because one (onTick()) is simpler and refers to Engine updates, and the second one (physics events) provides a higher-frequency, less-jittery data streams important for sensors such as IMU and Odometry.
@adamdbrw adamdbrw added kind/enhancement Enhancement to an existing feature. feature/robotics This item is related to robotics. labels Apr 24, 2023
@byrcolin byrcolin added needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. needs-priority Indicates a PR lacks a `priority/foo` label and requires one. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation labels Apr 25, 2023
AMZN-alexpete pushed a commit that referenced this issue May 3, 2023
@michalpelka @adamdbrw
Urdf creation in passes (#295)
be8fc22 
Changed way in which URDF is parsed:
 - entities are created without hierarchy at first
 - entities transformations are set independent of joint
 - Widgets contain log of created entities and joints
 - Fixed crash in ColliderMaker, that was caused by a non-existing mesh
   collider

Co-authored-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
Signed-off-by: Michał Pełka <michalpelka@gmail.com>
@lgleim lgleim added triage/accepted Indicates an issue or PR is ready to be actively worked on. priority/major Major priority. Work that should be handled after all blocking and critical work is done. and removed needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. needs-priority Indicates a PR lacks a `priority/foo` label and requires one. labels May 11, 2023
@adamdbrw adamdbrw mentioned this issue Jul 17, 2023
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@Antoni-Robotec
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The sensors update mechanism is similar to the ones in ROS Publishers, would be best to unify.

@adamdbrw
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This means, when working on this task, also look at non-sensor publishers such as JointState.

@PawelLiberadzki PawelLiberadzki self-assigned this Aug 23, 2023
@PawelLiberadzki PawelLiberadzki mentioned this issue Aug 29, 2023
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@PawelLiberadzki PawelLiberadzki mentioned this issue Sep 22, 2023
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@PawelLiberadzki
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Resolved with #526.

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@PawelLiberadzki PawelLiberadzki

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feature/robotics This item is related to robotics. kind/enhancement Enhancement to an existing feature. priority/major Major priority. Work that should be handled after all blocking and critical work is done. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation triage/accepted Indicates an issue or PR is ready to be actively worked on.
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@lgleim @adamdbrw @PawelLiberadzki @byrcolin @Antoni-Robotec