Suggestion: Option for main threaded ROS2UnityComponent about ros2-for-unity HOT 3 CLOSED

Thanks for the feedback, I'll create a PR and link it from here soon.
Remark: I am not entirely sure how much time I will be able to spend on this, so if it halts, feel free to close this issue in the future if nothing happens. I will try to remeber to keep it updated though.

from ros2-for-unity.

I think that it is a reasonable justification for having an option for the user. The Asset is of course just a suggestion on how to use underlying ros2cs API.

As I see it, this is more of an option where to run the execution than a separate entity. I would opt for code reuse, as much as possible, perhaps the entire thing can be handled by a component parameter (a thread will be created by default, but if the parameter is set, we instead call the Tick() function directly from FixedUpdate). What do you think?

In any case, please feel welcome to submit a PR, we can discuss design in there.

from ros2-for-unity.

I'm actually going to close this issue since I currently have no plan on creating a PR; it has since the time of creating this issue become apparent that main threaded ROS2 polling (SpinOnce) has some big drawbacks, and for us we ditched the idea completelty. It had to do with the fact that Unitys FixedUpdate() is not executed "evenly". If set to 1000hz, it will typically execute a batch of FixedUpdate() as quickly as possible, and then do nothing until the next Update() cycle. In other words; it will not run once every millisecond. It may run 10 times in 1 millisecond, do nothing for 9 milliseconds, and then start over again. This article touches on this: https://johnaustin.io/articles/2019/fix-your-unity-timestep

from ros2-for-unity.