feat(tier4_autoware_utils): add the API to check if taken data is stale #7404
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common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…le (#7404) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Description
add
takeNewDatato polling subscriberuse case: current PollingSubscriber::takeData() returns the previously-taken data if popping from dds queue failed. But sometimes we want to know if the taken-data is "stale". For example we want to process lanelet_map message only when the process is called initially or the map has changed by differential loading.
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Tests performed
lane_departure_checker becomes lightweight.
Notes for reviewers
Interface changes
none
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
none
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