Two ways of reading sensor data are using ROS callbacks or direct access of variables. Sailbot started off with direct access and calling update methods, I changed much of the repo to use properties which removes the need for update functions. Simultaneously Tom has been implementing ROS callbacks for sensors. These can be used fine together but committing to a standard approach would reduce complexity.
Measure runtime performance between ROS and direct access for 1 publisher and multiple subscribers (likely no significant difference in runtime but worth measuring since sensor data is referenced a lot)
Commit to a standardized approach
Achieving this will reduce the burden of knowledge for new peeps. Also cleans up the repo and maintaining/bugfixing one system is easier than two.
Two ways of reading sensor data are using ROS callbacks or direct access of variables. Sailbot started off with direct access and calling update methods, I changed much of the repo to use properties which removes the need for update functions. Simultaneously Tom has been implementing ROS callbacks for sensors. These can be used fine together but committing to a standard approach would reduce complexity.
Achieving this will reduce the burden of knowledge for new peeps. Also cleans up the repo and maintaining/bugfixing one system is easier than two.