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Fix "roscpp multithreaded spinners eat up CPU when callbacks take too long" #2377

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Fix "roscpp multithreaded spinners eat up CPU when callbacks take too long" #2377

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Commits on Oct 7, 2024

  1. * Fix a busy-wait loop in subscription queue. 

    * Better fix for slow callbacks CPU throttling.

* More versatile callback queue test.

* Finished cherry-pick merge to melodic-devel.

* libros: moved define

* roscpp: implementet ros#1608 without ABI/API breaks

* /test_roscpp: fake_message is in a header now...

* test_roscpp: fixed sign-compare warning

* stabilized test

* CallbackQueue: use SteadyTime instead of WallTime to get independent of system-time changes

* style only

* Update clients/roscpp/include/ros/callback_queue.h

Co-authored-by: Johannes Meyer <[email protected]>

Co-authored-by: Martin Pecka <[email protected]>
Co-authored-by: CTU base <robot@ctu-base>
Co-authored-by: Martin Pecka <[email protected]>
Co-authored-by: Christopher Wecht <christopher.wechtstudent.kit.edu>
Co-authored-by: Dirk Thomas <[email protected]>
Co-authored-by: Johannes Meyer <[email protected]>
    @cwecht @peci1
    @dirk-thomas @meyerj
    6 people committed Oct 7, 2024
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  2. Fix subscription busy wait melodic (ros#2014) 

    * roscpp: simplify implementation of CallbackQueue::callOne()

Replace duplicate wait_for() call in CallbackQueue::callOne() with a loop and a call to wait_until().

* roscpp: return TryAgain from CallbackQueue::callOne(timeout) immediately if timeout.isZero()

... and if none of the other result conditions holds (i.e. the queue is Empty or Disabled).

Co-authored-by: Johannes Meyer <[email protected]>
    @dirk-thomas @meyerj
    dirk-thomas and meyerj committed Oct 7, 2024
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