Removed topic statistics as they were not generic in iron yet.

LOEWE-emergenCITY · Oct 10, 2024 · 7bd8f08 · 7bd8f08
1 parent 53fdaaa
commit 7bd8f08
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Showing 3 changed files with 6 additions and 44 deletions.
diff --git a/.github/workflows/lint-and-test.yaml b/.github/workflows/lint-and-test.yaml
@@ -1,9 +1,9 @@
 name: Lint & Test
 on:
   push:
-    branches: [ jazzy ]
+    branches: [ iron ]
   pull_request:
-    branches: [ jazzy ]
+    branches: [ iron ]
 defaults:
   run:
     shell: bash
@@ -37,8 +37,8 @@ jobs:
     strategy:
       matrix:
         setup:
-          - rosdistro: jazzy
-            os: ubuntu-24.04
+          - rosdistro: iron
+            os: ubuntu-22.04
     steps:
       - name: install build tools
         run: |

diff --git a/ros_babel_fish/include/ros_babel_fish/detail/babel_fish_subscription.hpp b/ros_babel_fish/include/ros_babel_fish/detail/babel_fish_subscription.hpp
@@ -17,10 +17,6 @@ class BabelFish;
 
 class BabelFishSubscription : public rclcpp::SubscriptionBase
 {
-private:
-  using SubscriptionTopicStatisticsSharedPtr =
-      std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics>;
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS( BabelFishSubscription )
 
@@ -29,8 +25,7 @@ class BabelFishSubscription : public rclcpp::SubscriptionBase
       MessageTypeSupport::ConstSharedPtr type_support, const std::string &topic_name,
       const rclcpp::QoS &qos,
       rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
-      const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> &options,
-      SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr );
+      const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> &options );
 
   ~BabelFishSubscription() override;
 
@@ -76,8 +71,6 @@ class BabelFishSubscription : public rclcpp::SubscriptionBase
 
   MessageTypeSupport::ConstSharedPtr type_support_;
   rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback_;
-  /// Component which computes and publishes topic statistics for this subscriber
-  SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics_{ nullptr };
 };
 } // namespace ros_babel_fish
 

diff --git a/ros_babel_fish/src/detail/babel_fish_subscription.cpp b/ros_babel_fish/src/detail/babel_fish_subscription.cpp
@@ -17,8 +17,7 @@ BabelFishSubscription::BabelFishSubscription(
     MessageTypeSupport::ConstSharedPtr type_support, const std::string &topic_name,
     const rclcpp::QoS &qos,
     rclcpp::AnySubscriptionCallback<CompoundMessage, std::allocator<void>> callback,
-    const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> &options,
-    SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics )
+    const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> &options )
     : rclcpp::SubscriptionBase( node_base, type_support->type_support_handle, topic_name,
                                 options.to_rcl_subscription_options( qos ), options.event_callbacks,
                                 options.use_default_callbacks,
@@ -29,10 +28,6 @@ BabelFishSubscription::BabelFishSubscription(
 {
   // TODO: Adding intra process support [very low priority]
 
-  if ( subscription_topic_statistics != nullptr ) {
-    this->subscription_topic_statistics_ = std::move( subscription_topic_statistics );
-  }
-
   TRACEPOINT( rclcpp_subscription_init, static_cast<const void *>( get_subscription_handle().get() ),
               static_cast<const void *>( this ) );
   TRACEPOINT( rclcpp_subscription_callback_added, static_cast<const void *>( this ),
@@ -64,40 +59,14 @@ std::shared_ptr<rclcpp::SerializedMessage> BabelFishSubscription::create_seriali
 void BabelFishSubscription::handle_message( std::shared_ptr<void> &message,
                                             const rclcpp::MessageInfo &message_info )
 {
-  std::chrono::time_point<std::chrono::system_clock> now;
-  if ( subscription_topic_statistics_ ) {
-    // get current time before executing callback to
-    // exclude callback duration from topic statistics result.
-    now = std::chrono::system_clock::now();
-  }
-
   callback_.dispatch( CompoundMessage::make_shared( *type_support_, message ), message_info );
-
-  if ( subscription_topic_statistics_ ) {
-    const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>( now );
-    const auto time = rclcpp::Time( nanos.time_since_epoch().count() );
-    subscription_topic_statistics_->handle_message( message_info.get_rmw_message_info(), time );
-  }
 }
 
 void BabelFishSubscription::handle_serialized_message(
     const std::shared_ptr<rclcpp::SerializedMessage> &serialized_message,
     const rclcpp::MessageInfo &message_info )
 {
-  std::chrono::time_point<std::chrono::system_clock> now;
-  if ( subscription_topic_statistics_ ) {
-    // get current time before executing callback to
-    // exclude callback duration from topic statistics result.
-    now = std::chrono::system_clock::now();
-  }
-
   callback_.dispatch( serialized_message, message_info );
-
-  if ( subscription_topic_statistics_ ) {
-    const auto nanos = std::chrono::time_point_cast<std::chrono::nanoseconds>( now );
-    const auto time = rclcpp::Time( nanos.time_since_epoch().count() );
-    subscription_topic_statistics_->handle_message( message_info.get_rmw_message_info(), time );
-  }
 }
 
 void BabelFishSubscription::handle_loaned_message( void *loaned_message,