uulm-mrm / ros2_def

Deterministic Execution Framework for ROS 2
https://uulm-mrm.github.io/ros2_def
Apache License 2.0
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Add an optional callback parameter to get notified of intercepted messages #1

Closed janstrohbeck closed 1 year ago

janstrohbeck commented 1 year ago

This allows the data source to get notified when a message was received at the orchestrator. I use this to save all received messages to JSON files, to compare the outputs of nodes across runs. Could also potentially be used for other purposes. Messages may have to be decoded in case of raw subscriptions, which is why the topic type is also passed to the callback.