I'm new to ROS2. How Can I spin the node using composition techniques. In the case of publishers, examples shows use of timer to bind the callback function. Is there any other way of continuously sniping the node without binding it to timer.
In composition example.:
// Use a timer to schedule periodic message publishing.
timer_ = create_wall_timer(1s, std::bind(&Talker::on_timer, this));
My use case application is creating a video/image (OpenCV) publisher.
In the composition case none of the nodes is in charge of the main function / main thread. Therefore you either have to use a timer to get notified in regular intervals or start your own thread (with all the implications for locking / thread safety).
In reply to this post by Sriram Raghunathan via ros-users
@dirk-thomas Just a query regarding future composition related work....Will there be anything like the onInit() function (like that of nodelets) in future ros 2 releases..Or will all composed nodes in ros 2 be initialised at the constructor of the class ??