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Do expensive publishing operation in a seperate thread to resolve bottleneck #382

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Do expensive publishing operation in a seperate thread to resolve bottleneck #382

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8 changes: 6 additions & 2 deletions Assets/AWSIM/Scripts/Sensors/Camera/CameraRos2Publisher.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
using System.Collections.Generic;
using UnityEngine;
using ROS2;
using System.Threading.Tasks;

namespace AWSIM
{
Expand Down Expand Up @@ -84,9 +85,12 @@ void UpdateMessagesAndPublish(CameraSensor.OutputData outputData)
imageMsg.Header.Stamp = timeMsg;
cameraInfoMsg.Header.Stamp = timeMsg;


// Publish to ROS2
imagePublisher.Publish(imageMsg);
cameraInfoPublisher.Publish(cameraInfoMsg);
var taskBoth = Task.Run(() => {
imagePublisher.Publish(imageMsg);
cameraInfoPublisher.Publish(cameraInfoMsg);
});
}

private void UpdateImageMsg(CameraSensor.OutputData data)
Expand Down