From 924c30135eef1cbda05f367b110b7af20de92c63 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 25 Sep 2018 16:33:36 +0200
Subject: [PATCH] Remove useless thread to start and stop dynamic graph
---
.../dynamic_graph_bridge/sot_loader_basic.hh | 7 ++++-
src/sot_loader_basic.cpp | 29 ++++++-------------
2 files changed, 15 insertions(+), 21 deletions(-)
diff --git a/include/dynamic_graph_bridge/sot_loader_basic.hh b/include/dynamic_graph_bridge/sot_loader_basic.hh
index b561d48..11cc15d 100644
--- a/include/dynamic_graph_bridge/sot_loader_basic.hh
+++ b/include/dynamic_graph_bridge/sot_loader_basic.hh
@@ -73,6 +73,12 @@ protected:
/// \brief Coefficient between parallel joints and the state vector.
std::vector<double> coefficient_parallel_joints_;
+ /// Advertises start_dynamic_graph services
+ ros::ServiceServer service_start_;
+
+ /// Advertises stop_dynamic_graph services
+ ros::ServiceServer service_stop_;
+
// Joint state publication.
ros::Publisher joint_pub_;
@@ -83,7 +89,6 @@ protected:
int nbOfJoints_;
parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
-
public:
SotLoaderBasic();
~SotLoaderBasic() {};
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index 4193a9b..e30b940 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -35,24 +35,6 @@ using namespace std;
using namespace dynamicgraph::sot;
namespace po = boost::program_options;
-void createRosSpin(SotLoaderBasic *aSotLoaderBasic)
-{
- ROS_INFO("createRosSpin started\n");
- ros::NodeHandle n;
-
- ros::ServiceServer service = n.advertiseService("start_dynamic_graph",
- &SotLoaderBasic::start_dg,
- aSotLoaderBasic);
-
- ros::ServiceServer service2 = n.advertiseService("stop_dynamic_graph",
- &SotLoaderBasic::stop_dg,
- aSotLoaderBasic);
-
-
- ros::waitForShutdown();
-}
-
-
SotLoaderBasic::SotLoaderBasic():
dynamic_graph_stopped_(true),
sotRobotControllerLibrary_(0)
@@ -76,8 +58,15 @@ int SotLoaderBasic::initPublication()
void SotLoaderBasic::initializeRosNode(int , char *[])
{
ROS_INFO("Ready to start dynamic graph.");
- boost::unique_lock<boost::mutex> lock(mut);
- boost::thread thr2(createRosSpin,this);
+ ros::NodeHandle n;
+
+ service_start_ = n.advertiseService("start_dynamic_graph",
+ &SotLoaderBasic::start_dg,
+ this);
+
+ service_stop_ = n.advertiseService("stop_dynamic_graph",
+ &SotLoaderBasic::stop_dg,
+ this);
}
--
GitLab