Fixed Issue #15: rxros::spin() function uses unnecessary many threads.

brickpi3/src/BrickPi3BaseController_rx.cpp

@@ -41,7 +41,7 @@ enum WheelId{ LEFT_WHEEL = 0, RIGHT_WHEEL = 1};
 
 int main(int argc, char** argv)
 {
-    rxros::init(argc, argv, "brickpi3_base_controller"); // Name of this node.
+    ros::init(argc, argv, "brickpi3_base_controller"); // Name of this node.
 
     const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint");
     const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint");
@@ -104,5 +104,5 @@ int main(int argc, char** argv)
     | map(effort_2_joint_cmd(RIGHT_WHEEL))
     | publish_to_topic<brickpi3_msgs::JointCommand>("/joint_command");
 
-    rxros::spin();
+    ros::spin();
 }

brickpi3/src/BrickPi3JointStatesPublisher_rx.cpp

@@ -53,7 +53,7 @@ auto tuple_2_joint_states = [](const auto& ljs, const auto& rjs) { // tuple: lef
 
 int main(int argc, char** argv)
 {
-    rxros::init(argc, argv, "brickpi3_joint_states_publisher"); // Name of this node.
+    ros::init(argc, argv, "brickpi3_joint_states_publisher"); // Name of this node.
 
     const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint");
     const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint");
@@ -68,5 +68,5 @@ int main(int argc, char** argv)
     left_wheel_observable.zip(tuple_2_joint_states, right_wheel_observable)
     | publish_to_topic<sensor_msgs::JointState>("/joint_states");
 
-    rxros::spin();
+    ros::spin();
 }

brickpi3/src/BrickPi3Observable_rx.h

@@ -65,7 +65,7 @@ namespace brickpi3
                     brickPi3.set_sensor_type(id, SENSOR_TYPE_TOUCH_NXT);
 
                     ros::Rate rate(frequency);
-                    while (rxros::ok()) {
+                    while (ros::ok()) {
                         sensor_touch_t touch;
                         int rc = brickPi3.get_sensor(id, &touch);
                         if (rc == 0) {
@@ -98,7 +98,7 @@ namespace brickpi3
                     brickPi3.set_sensor_type(id, SENSOR_TYPE_NXT_COLOR_FULL);
 
                     ros::Rate rate(frequency);
-                    while (rxros::ok()) {
+                    while (ros::ok()) {
                         sensor_color_t color;
                         int rc = brickPi3.get_sensor(id, &color);
                         if (rc == 0) {
@@ -130,7 +130,7 @@ namespace brickpi3
                     brickPi3.set_sensor_type(id, SENSOR_TYPE_NXT_ULTRASONIC);
 
                     ros::Rate rate(frequency);
-                    while (rxros::ok()) {
+                    while (ros::ok()) {
                         sensor_ultrasonic_t ultrasonic;
                         int rc = brickPi3.get_sensor(id, &ultrasonic);
                         if (rc == 0) {
@@ -162,7 +162,7 @@ namespace brickpi3
                     brickPi3.reset_motor_encoder(id);
 
                     ros::Rate rate(frequency);
-                    while (rxros::ok()) {
+                    while (ros::ok()) {
                         actuator_motor_t motor{};
                         int rc = brickPi3.get_motor_status(id, motor.motorState, motor.motorPower, motor.motorPosition, motor.motorDPS);
                         if (rc == 0) {

brickpi3/src/BrickPi3OdomPublisher_rx.cpp

@@ -41,7 +41,7 @@ using namespace rxros::operators;
 
 int main(int argc, char** argv)
 {
-    rxros::init(argc, argv, "brickpi3_odom_publisher"); // Name of this node.
+    ros::init(argc, argv, "brickpi3_odom_publisher"); // Name of this node.
 
     const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint");
     const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint");
@@ -107,5 +107,5 @@ int main(int argc, char** argv)
         | map(stsTuple2Odometry)
         | publish_to_topic<nav_msgs::Odometry>("/odom");
 
-    rxros::spin();
+    ros::spin();
 }

brickpi3/src/BrickPi3Ros_rx.cpp

@@ -50,7 +50,7 @@ auto join_with_latest_from(const Observable& observable) {
 
 
 int main(int argc, char** argv) {
-    rxros::init(argc, argv, "brickpi3"); // Name of this node.
+    ros::init(argc, argv, "brickpi3"); // Name of this node.
 
     auto touchEvent2ContactMsg = [] (const std::string& frameId) {
         return [=](const sensor_touch_t& touchEvent) {
@@ -154,5 +154,5 @@ int main(int argc, char** argv) {
             }},
         [](){}); // on completed event
 
-    rxros::spin();
+    ros::spin();
 }

rxros_listener/src/rxros_listener.cpp

@@ -38,14 +38,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 int main(int argc, char **argv)
 {
-  rxros::init(argc, argv, "listener");
+  ros::init(argc, argv, "listener");
 
   rxros::observable::from_topic<std_msgs::String>("/chatter", 1000)
     .subscribe ( [] (const std_msgs::String& msg) { 
       ROS_INFO_STREAM ("I heard: [" << msg.data << "]"); 
     });
 
-  rxros::spin();
+  ros::spin();
 
   return 0;
 }

rxros_talker/src/rxros_talker.cpp

@@ -48,7 +48,7 @@ int main(int argc, char **argv)
 {
   using namespace rxcpp::operators;
 
-  rxros::init(argc, argv, "talker");
+  ros::init(argc, argv, "talker");
   const std::string hello = "hello world ";
 
   rxcpp::observable<>::interval (std::chrono::milliseconds (1000)) 
@@ -58,6 +58,6 @@ int main(int argc, char **argv)
       { ROS_INFO_STREAM (msg.data); })
     | rxros::operators::publish_to_topic<std_msgs::String> ("/chatter", 1000);
 
-  rxros::spin();
+  ros::spin();
   return 0;
 }

rxros_teleop/src/JoystickPublisher_rx.cpp

@@ -48,7 +48,7 @@ struct joystick_event
 
 int main(int argc, char** argv)
 {
-    rxros::init(argc, argv, "joystick_publisher"); // Name of this Node.
+    ros::init(argc, argv, "joystick_publisher"); // Name of this Node.
 
     const auto joystickDevice = rxros::parameter::get("/joystick_publisher/device", "/dev/input/js0");
     rxros::logging().info() << "Joystick device: " << joystickDevice;
@@ -95,5 +95,5 @@ int main(int argc, char** argv)
         | publish_to_topic<rxros_teleop_msgs::Joystick>("/joystick");
 
     rxros::logging().info() << "Spinning joystick_publisher ...";
-    rxros::spin();
+    ros::spin();
 }

rxros_teleop/src/KeyboardPublisher_rx.cpp

@@ -37,7 +37,7 @@ using namespace rxros::operators;
 
 int main(int argc, char** argv)
 {
-    rxros::init(argc, argv, "keyboard_publisher"); // Name of this Node.
+    ros::init(argc, argv, "keyboard_publisher"); // Name of this Node.
 
     const auto keyboardDevice = rxros::parameter::get("/keyboard_publisher/device", "/dev/input/event4"); // Use event4 for dell, event4 for nuc and event1 for others
     rxros::logging().info() << "Keyboard device: " << keyboardDevice;
@@ -67,5 +67,5 @@ int main(int argc, char** argv)
         | publish_to_topic<rxros_teleop_msgs::Keyboard>("/keyboard");
 
     rxros::logging().info() << "Spinning keyboard_publisher...";
-    rxros::spin();
+    ros::spin();
 }

rxros_teleop/src/VelocityPublisher_rx.cpp

@@ -39,7 +39,7 @@ using namespace rxros::operators;
 
 
 int main(int argc, char** argv) {
-    rxros::init(argc, argv, "velocity_publisher"); // Name of this node.
+    ros::init(argc, argv, "velocity_publisher"); // Name of this node.
 
     const auto frequencyInHz = rxros::parameter::get("/velocity_publisher/frequency", 10.0); // hz
     const auto minVelLinear = rxros::parameter::get("/velocity_publisher/min_vel_linear", 0.04); // m/s
@@ -98,5 +98,5 @@ int main(int argc, char** argv) {
     | publish_to_topic<geometry_msgs::Twist>("/cmd_vel"); // publish the Twist messages to the topic "/cmd_vel"
 
     rxros::logging().info() << "Spinning velocity_publisher ...";
-    rxros::spin();
+    ros::spin();
 }