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Remove tf subscription from frame manager and use tf buffer instead #62

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Remove tf subscription from frame manager and use tf buffer instead #62

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Commits on Oct 14, 2020

  1. Use TF Buffer to fetch frame pose instead of maintaining a custom map… 

    … of transformations

Also fixes the issues where the tf arrow glitched due to requesting data from tf buffer before it was populated

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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    shrijitsingh99 committed Oct 14, 2020
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  2. Remove all mutex locks in frame manager 

    Since in all the functions only data is being read and is not being written/updated so there is no need for any lock. 

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>

Tf buffer itself is thread safe as well.
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    shrijitsingh99 committed Oct 14, 2020
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  3. Remove frame list changed event 

    Each plugin can fetch the latest frames from the frame mange as and when needed.
No need of listening to an event.

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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    shrijitsingh99 committed Oct 14, 2020
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  4. Add locks when reading fixed frames 

    Since atomic operations aren't possible with strings, locks do the job

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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    shrijitsingh99 committed Oct 14, 2020
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  5. Create timer for generating events when frames are updated 

    Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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    shrijitsingh99 committed Oct 14, 2020
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  6. Revert to using event to monitor tf frames 

    Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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  7. Remove timeout of 1 second when waiting for transform 

    Most plugins require the latest TF and and handle scenarios in case TF is unavailable so no need to wait for TF to become available

Signed-off-by: Shrijit Singh <shrijitsingh99@gmail.com>
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    shrijitsingh99 committed Oct 14, 2020
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