Threading function - udp client integration to a Ros node

asked 2012-06-09 12:33:36 -0600

ajr_

97 ●8 ●11 ●18

updated 2014-01-28 17:12:37 -0600

ngrennan
1 ●1 ●1

Hi,

I have working ROS node with callBacks for subscriptions, and also with timers like this:

timer= nh.createTimer(ros::Duration(0.050), &Control::spin,this); // 20Hz
void Control::spin(const ros::TimerEvent & e)

But I would like to create additional function which connects to a UDP server and ask data. For this I need to create own function which would run as separate loop alongside other node callBacks. How should i create this, with help of what kind of tools? I guess timer is not the best solution because of constant Hz in loop.

My control node current structure:


int main(int argc, char **argv)
{
    printf("*************************************\n");

    ros::init(argc, argv, "control");
    ros::NodeHandle n;
    Control Mcontrol(n);

    ros::spin();
    return 0;
}

Control class requires itself quite fast response time to its tasks. It subscribes to IMU data ~20Hz and camera coordinate data would be obtained with help of UDP. UDP should be as fast as possible.

All tips are highly appreciated. Thanks.

EDIT: At the moment too busy to try solve this problem this way. Made separate node for UDP-client. Maybe later try to integrate them in to one node. I'm unsure will this make any difference latency wise?

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Comments

What's wrong with timers? If you want it to run as fast as possible, setting the timeout to 0 should work.

Dan Lazewatsky ( 2012-06-10 03:43:38 -0600 )edit

sure, of course i can do that too. I'm just wondering about possible solutions, if timers are the correct way then i'm happy to use them.

ajr_ ( 2012-06-10 03:55:47 -0600 )edit

Timers will work, but they introduce extra latency for programs like this.

joq ( 2012-06-11 09:23:20 -0600 )edit

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2 Answers

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answered 2012-06-10 14:29:09 -0600

joq
25443 ●181 ●256 ●408

updated 2012-06-10 14:29:31 -0600

For a node, you don't need an extra thread. Within your main() thread, in place of ros::spin(), invoke ros::spinOnce() in a loop. The rest of that loop can read UDP requests, or whatever you want.

while (ros::ok()) {
    ros:spinOnce();
    // process UDP requests
}

Nodelets do need and extra thread for logic like this. I can explain how to do that too, if you are interested.

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this could be a good solution. And it should keep the Control class fast enough to response and calculate control values(control toolbox pid) send back to robot.

ajr_ ( 2012-06-10 22:53:21 -0600 )edit

That actually depends on your message callbacks. spinOnce will execute all message/service callbacks in the current thread and block until they are done so if you do a lot of work there, it might take too long.

Lorenz ( 2012-06-11 04:48:58 -0600 )edit

True. If it is a problem, there are ways to run the callbacks in separate threads at the cost of adding mutex logic to the code.

joq ( 2012-06-11 07:26:57 -0600 )edit

To just run the callbacks in a separate thread, you could also use a ros::AsyncSpinner with just one thread. I think that shouldn't require any locking.

Lorenz ( 2012-06-11 07:29:08 -0600 )edit

I expect it does if any data are exchanged between the callbacks and the main thread.

joq ( 2012-06-11 08:27:32 -0600 )edit

You are right of course. Never mind...

Lorenz ( 2012-06-11 08:39:37 -0600 )edit

I have limited experience of threads, is there maybe some similar examples which would solve same kind of situation? To point me into right direction.

ajr_ ( 2012-06-11 10:25:10 -0600 )edit

I recommend avoiding threads entirely until you are convinced that the simple spinOnce() solution causes excessive latency. Try that and measure the latency. Most likely, it will work fine.

joq ( 2012-06-11 10:31:59 -0600 )edit

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