/***********************************************************************************************************************
//The custom queue used for one of the subscription callbacks
***********************************************************************************************************************/
void callbackThread()
{
ROS_INFO_STREAM("Callback thread id=" << boost::this_thread::get_id());
ros::NodeHandle n;
ros::Rate loop_rate(LoopHz);
while (n.ok())
{
g_queue.callAvailable(ros::WallDuration(0.01));
loop_rate.sleep();
}
}
void EmtpyQueue()
{
trigger_queue_.callOne();
}
void processCallbackQueueThread()
{
tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01));
};
void CallbackQueueThread() {
static const ros::WallDuration timeout(1.0);
while(!is_shutting_down_) {
callback_queue_.callAvailable(timeout);
}
}