gazebo-yarp-plugins
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robotology
[clock] Make gazebo_yarp_clock use a `/clock` topic instead of `/clock` port`
@paulfitz originally mentioned in https://github.com/robotology/gazebo-yarp-plugins/issues/57#issuecomment-34840987 that /clock should be a topic and not a port.
I implemented the necessary code months ago in https://github.com/robotology/gazebo-yarp-plugins/tree/clockTopic, but no one of the people using the synchronization tested it.
Anyone willing to test it? @arocchi @EnricoMingo @jeljaik @francesco-romano
Thanks a lot.
When you say a topic you mean a ros topic? Il 19/nov/2014 15:32 "Silvio Traversaro" [email protected] ha scritto:
@paulfitz https://github.com/paulfitz originally mentioned in #57 https://github.com/robotology/gazebo-yarp-plugins/issues/57 that /clock should be a topic and not a port. I implemented the necessary code months ago in https://github.com/robotology/gazebo-yarp-plugins/tree/clockTopic, but no one of the people using the synchronization tested it. Anyone willing to test it? @arocchi https://github.com/arocchi @EnricoMingo https://github.com/EnricoMingo @jeljaik https://github.com/jeljaik @francesco-romano https://github.com/francesco-romano Thanks a lot.
— Reply to this email directly or view it on GitHub https://github.com/robotology/gazebo-yarp-plugins/issues/157.
A question that came up in my mind as of now. Is the reading from a topic still a blocking read?
@EnricoMingo Both YARP and ROS have the topic concept, so I am referring to a Yarp topic that could anyway enable interoperability with ros nodes, as @paulfitz mentioned in https://github.com/robotology/gazebo-yarp-plugins/issues/57#issuecomment-34840987 .
@arocchi I don't know anything about the YARP side of it, but I guess everything should be ready for working with a topic instead of a port.
yes, there'd be no difference as far as the code is concerned. It just changes naming and connecting.
@traversaro Do we need to change anything in client side to make /clock topic work? If the change is transparent, we can just force this branch in the superbuild and have everybody test it in the next sprint week.
@paulfitz what do you mean by naming changes? @MirkoFerrati that hypothesis is worth to be included in one of those "Insanity Wolf" memes.
However don't worry, I opened this issue because @jeljaik and @francesco-romano are doing some crazy cool simulink-gazebo-yarp synchronization stuff and I hope they are also going to test this topic stuff.
cc @barbalberto This is related to the use of a "persistent" connection for the clock.