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Remove mutex in publisher

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This commit is contained in:
Jackie Kay 2015-12-07 17:15:31 -08:00
parent 67dcd9fe49
commit 6d2f8ae634
1 changed files with 2 additions and 8 deletions
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8
rclcpp/include/rclcpp/publisher.hpp
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@ -135,8 +135,6 @@ protected:
rmw_gid_t rmw_gid_; rmw_gid_t rmw_gid_;
rmw_gid_t intra_process_rmw_gid_; rmw_gid_t intra_process_rmw_gid_;
std::mutex intra_process_publish_mutex_;
}; };
/// A publisher publishes messages of any type to a topic. /// A publisher publishes messages of any type to a topic.
@ -185,12 +183,8 @@ public:
// See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr // See: http://stackoverflow.com/questions/11002641/dynamic-casting-for-unique-ptr
MessageT * msg_ptr = msg.get(); MessageT * msg_ptr = msg.get();
msg.release(); msg.release();
uint64_t message_seq; uint64_t message_seq =
{
std::lock_guard<std::mutex> lock(intra_process_publish_mutex_);
message_seq =
store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT)); store_intra_process_message_(intra_process_publisher_id_, msg_ptr, typeid(MessageT));
}
rcl_interfaces::msg::IntraProcessMessage ipm; rcl_interfaces::msg::IntraProcessMessage ipm;
ipm.publisher_id = intra_process_publisher_id_; ipm.publisher_id = intra_process_publisher_id_;
ipm.message_sequence = message_seq; ipm.message_sequence = message_seq;