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ros-controls / realtime_tools

Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
https://control.ros.org
BSD 3-Clause "New" or "Revised" License
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Realtime Publisher - Select one behavior (Polling or NonPolling) and remove the other one #212

Open firesurfer opened 1 day ago

firesurfer commented 1 day ago

I just refactored the RealtimePublisher in #211 and I am wondering if we really need these two different behaviors of the RT publisher.

They make the code harder to read and maintain. In accordance with #199 I would suggest to use the non polling behavior and remove the other one.

Perhaps someone could point out a use case where one or the other is preferable?