Use persistent connection when getting model state from Gazebo

cyphyhouse / Cymulator

Simulator for CyPhyHouse project based on Gazebo

University of Illinois/NCSA Open Source License

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Use persistent connection when getting model state from Gazebo #19

Open hc825b opened 5 years ago

hc825b commented 5 years ago

Since we will repeatedly call /gazebo/get_model_state or /gazebo/set_model_state services, persistent connection allows us to avoid recreating ServiceProxy at every call and achieves higher throughput.

http://wiki.ros.org/rospy/Overview/Services#Persistent_connections