For headless systems it would be great to have a small dependency footprint. Currently joint_state_publisher pulls in qt, although its main class JointStatePublisher can run without gui.
Would it be feasible, to extract the non-gui-functionality into a separate package?
For backwards-compatibility the joint_state_publisher package would depend on that new slim_joint_state_publisher and import it, but slim_joint_state_publisher could be installed an run standalone without gui on embedded hardware to decrease memory footprint.
For headless systems it would be great to have a small dependency footprint. Currently joint_state_publisher pulls in qt, although its main class
JointStatePublishercan run without gui.Would it be feasible, to extract the non-gui-functionality into a separate package?
For backwards-compatibility the
joint_state_publisherpackage would depend on that newslim_joint_state_publisherand import it, butslim_joint_state_publishercould be installed an run standalone without gui on embedded hardware to decrease memory footprint.