{"action":"created","issue":{"url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/2","repository_url":"https://api.github.com/repos/yujinrobot/rplidar_ros","labels_url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/2/labels{/name}","comments_url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/2/comments","events_url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/2/events","html_url":"https://github.com/yujinrobot/rplidar_ros/pull/2","id":136626476,"number":2,"title":"#WIP Implemented nodelets for rplidar and laser scan processing","user":{"login":"naveedhd","id":3486082,"avatar_url":"https://avatars.githubusercontent.com/u/3486082?v=3","gravatar_id":"","url":"https://api.github.com/users/naveedhd","html_url":"https://github.com/naveedhd","followers_url":"https://api.github.com/users/naveedhd/followers","following_url":"https://api.github.com/users/naveedhd/following{/other_user}","gists_url":"https://api.github.com/users/naveedhd/gists{/gist_id}","starred_url":"https://api.github.com/users/naveedhd/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveedhd/subscriptions","organizations_url":"https://api.github.com/users/naveedhd/orgs","repos_url":"https://api.github.com/users/naveedhd/repos","events_url":"https://api.github.com/users/naveedhd/events{/privacy}","received_events_url":"https://api.github.com/users/naveedhd/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2016-02-26T08:15:33Z","updated_at":"2016-03-03T02:59:54Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/yujinrobot/rplidar_ros/pulls/2","html_url":"https://github.com/yujinrobot/rplidar_ros/pull/2","diff_url":"https://github.com/yujinrobot/rplidar_ros/pull/2.diff","patch_url":"https://github.com/yujinrobot/rplidar_ros/pull/2.patch"},"body":"- Don't have a launch file to bundle these two together, still have to test them separately\r\n- Processing works inside callback -> need to implement in thread and queue and possible optimize also\r\n "},"comment":{"url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/comments/191556237","html_url":"https://github.com/yujinrobot/rplidar_ros/pull/2#issuecomment-191556237","issue_url":"https://api.github.com/repos/yujinrobot/rplidar_ros/issues/2","id":191556237,"user":{"login":"bit-pirate","id":1136833,"avatar_url":"https://avatars.githubusercontent.com/u/1136833?v=3","gravatar_id":"","url":"https://api.github.com/users/bit-pirate","html_url":"https://github.com/bit-pirate","followers_url":"https://api.github.com/users/bit-pirate/followers","following_url":"https://api.github.com/users/bit-pirate/following{/other_user}","gists_url":"https://api.github.com/users/bit-pirate/gists{/gist_id}","starred_url":"https://api.github.com/users/bit-pirate/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bit-pirate/subscriptions","organizations_url":"https://api.github.com/users/bit-pirate/orgs","repos_url":"https://api.github.com/users/bit-pirate/repos","events_url":"https://api.github.com/users/bit-pirate/events{/privacy}","received_events_url":"https://api.github.com/users/bit-pirate/received_events","type":"User","site_admin":false},"created_at":"2016-03-03T02:59:54Z","updated_at":"2016-03-03T02:59:54Z","body":"> How are nodes easier for debugging and testing?\r\n\r\nFor example, usually our nodes are single-threaded, whereas with nodelets we often spin up a second thread. Running things in GDB is usually simpler with a node then a nodelet. I remember being unable killing the nodelet within GDB with ctrl+c. I guess it's related to how parameters and konsole in/output is passed to the process by GDB.\r\n\r\n> At the moment alot of code is duplicated, so it's either move all of that into a library, or drop the node.\r\n\r\nHow likely can we bring our changes back upstream? I'd like to add this factor to our decision making. Many ROS users don't use nodelets and might hesitate getting involved. So moving things out into a library would be good, since the node/nodelet part will be minimal then and the library would be used in both cases.\r\n"}}