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Isolate timer interface #447

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merged 1 commit into from
Mar 24, 2022
Merged

Isolate timer interface #447

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5 changes: 4 additions & 1 deletion tf2_ros/include/tf2_ros/create_timer_ros.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,8 @@ class CreateTimerROS : public CreateTimerInterface
TF2_ROS_PUBLIC
CreateTimerROS(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers);
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers,
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);

virtual ~CreateTimerROS() = default;

Expand Down Expand Up @@ -123,6 +124,8 @@ class CreateTimerROS : public CreateTimerInterface
TimerHandle next_timer_handle_index_;
std::unordered_map<TimerHandle, rclcpp::TimerBase::SharedPtr> timers_map_;
std::mutex timers_map_mutex_;

rclcpp::CallbackGroup::SharedPtr callback_group_;
}; // class CreateTimerROS

} // namespace tf2_ros
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9 changes: 6 additions & 3 deletions tf2_ros/src/create_timer_ros.cpp
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Expand Up @@ -43,8 +43,10 @@ namespace tf2_ros

CreateTimerROS::CreateTimerROS(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers)
: node_base_(node_base), node_timers_(node_timers), next_timer_handle_index_(0)
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers,
rclcpp::CallbackGroup::SharedPtr callback_group)
: node_base_(node_base), node_timers_(node_timers), next_timer_handle_index_(0),
callback_group_(callback_group)
{
}

Expand All @@ -61,7 +63,8 @@ CreateTimerROS::createTimer(
node_timers_,
clock,
period,
std::bind(&CreateTimerROS::timerCallback, this, timer_handle_index, callback));
std::bind(&CreateTimerROS::timerCallback, this, timer_handle_index, callback),
callback_group_);
timers_map_[timer_handle_index] = timer;
return timer_handle_index;
}
Expand Down