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machines-in-motion / dynamic_graph_manager

BSD 3-Clause "New" or "Revised" License
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Run DGM in single process #14

Closed jviereck closed 3 years ago

jviereck commented 4 years ago

Right now DGM requires a multi-process setup. To make testing / debugging easier, I think it would be good to have a single process implementation. My hope is we get this for free when the current single-class setup is separated into multiple classes (e.g. for the hardware and the control process).

MaximilienNaveau commented 4 years ago

I do agree

MaximilienNaveau commented 4 years ago

I forgot to mention that despite the fact that it has not been really tested you can create a single process with dynamic_graph_manager already... The main of the robot has to be a bit change. Instead of using run, there is a "run_single_process()" Which does exactly what you want. It will spawn a single real time thread which does everything.