Heavily cleanup teleop_turtle_key. #121
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1. Rearrange code so it is in a more logical order. 2. Switch from spin_some to spin, which should be lighter on CPU time. 3. Get rid of complicated actions in a signal handler. 4. Set the timeout on the keyboard reader so it will check status between loops. 5. Fixup the Windows keyboard handling to not use 100% CPU and to properly respond to Ctrl-C. Signed-off-by: Chris Lalancette <[email protected]>
sloretz
reviewed
May 11, 2021
Signed-off-by: Chris Lalancette <[email protected]>
mjeronimo
approved these changes
May 11, 2021
sloretz
approved these changes
May 11, 2021
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I was going to merge this, but then I got cold feet when I realized that Galactic and Rolling share a branch here. While I have tested on Linux, macOS, and Windows, I think it is too late in the Galactic release process to introduce a change of this size. What do people think we should do? |
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I think the risk is low, given that this is a sample code used in a tutorial. It'll be nice to have cleaner code that works and doesn't chew up a core. Personally, I'd rather not have example/demo code out there with existing issues that people might reproduce. |
Signed-off-by: Chris Lalancette <[email protected]>
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Here's CI on this:
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cottsay
approved these changes
May 12, 2021
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All right, I retested it locally on Windows, and it seems happy. CI is also happy. I'm going to go ahead and merge this one. |
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CPU time.
between loops.
to properly respond to Ctrl-C.
Signed-off-by: Chris Lalancette [email protected]
This should fix #119 . @mjeronimo FYI