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Prevent tf message filter from preempting the oldest message while it is waiting for transforms. #544

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Prevent tf message filter from preempting the oldest message while it is waiting for transforms. #544

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38 changes: 28 additions & 10 deletions tf2_ros/include/tf2_ros/message_filter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -404,19 +404,37 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
// Keep a lock on the messages
std::unique_lock<std::mutex> unique_lock(messages_mutex_);

// If this message is about to push us past our queue size, erase the oldest message
// If this message is about to push us past our queue size, erase the 2nd oldest message.
// Note: The oldest message is not removed because that would preempt the waitForTransform check that is currently
// being conducted for it.
if (queue_size_ != 0 && messages_.size() + 1 > queue_size_) {
++dropped_message_count_;
const MessageInfo & front = messages_.front();
TF2_ROS_MESSAGEFILTER_DEBUG(
"Removed oldest message because buffer is full, count now %d (frame_id=%s, stamp=%f)",
messages_.size(),
(mt::FrameId<M>::value(*front.event.getMessage())).c_str(),
mt::TimeStamp<M>::value(*front.event.getMessage()).seconds());
if (messages_.size() > 1) {
// Drop 2nd oldest message
auto second_oldest = std::next(messages_.begin());

messageDropped(front.event, filter_failure_reasons::QueueFull);
++dropped_message_count_;
TF2_ROS_MESSAGEFILTER_DEBUG(
"Removed old message because buffer is full, count now %d (frame_id=%s, stamp=%f)",
messages_.size(),
(mt::FrameId<M>::value(*second_oldest->event.getMessage())).c_str(),
mt::TimeStamp<M>::value(*second_oldest->event.getMessage()).seconds());

messages_.pop_front();
messageDropped(second_oldest->event, filter_failure_reasons::QueueFull);

messages_.erase(second_oldest);
}
else {
// Drop this message because the queue size is only 1 and we don't want to preempt the message currently being
// waited on.

TF2_ROS_MESSAGEFILTER_DEBUG(
"Removed message because buffer is full, count now %d (frame_id=%s, stamp=%f)",
messages_.size(),
(mt::FrameId<M>::value(*evt.getMessage())).c_str(),
mt::TimeStamp<M>::value(*evt.getMessage()).seconds());

messageDropped(evt, filter_failure_reasons::QueueFull);
}
}

// Add the message to our list
Expand Down