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Check topic for type to determine which subscription callback to trigger #759

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merged 1 commit into from
May 25, 2022
Merged

Check topic for type to determine which subscription callback to trigger #759

merged 1 commit into from
May 25, 2022

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agyoungs
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@agyoungs agyoungs commented May 25, 2022 •
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Closes #756

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agyoungs commented May 25, 2022 •
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@danthony06 Can you review this? The disadvantage to this approach is that if a topic doesn't exist when the plugin is initialized, the subscription will not be made. This could be addressed with a function override for plugins that gets triggered when new topics are identified. Thoughts?

The alternative approach is to use a generic subscription. However this will require de-serialization within the plugin.

@danthony06 danthony06 merged commit f3df227 into swri-robotics:ros2-devel May 25, 2022
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Seems reasonable to me.

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@danthony06 danthony06 danthony06 approved these changes

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