Inherit NodeletLazy for pipeline with less cpu load #153
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Please try using |
paulbovbel
approved these changes
Aug 8, 2017
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I'm by change doing the same work and there seems to be a bit difference each other. ( #154 ) |
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The nodelet not found error is caused by mistaken syntax error of package.xml. |
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Why?
Checking number of subscribers in the callback is not enough to reduce cpu load with nodelet pipeline.
If a leaf nodelet subscribes the parent node's topic, the parent node processes in the callback because
pub_output.getNumSubscribers() == 1.