Initial implementation

[Rayman]

It doesn't receive it's own messages, and by default it uses 30% less CPU to run

26.96 / (20.43 + 17.34) = 0.71

With the EventsExecutor it uses 40% less CPU

27.35 / (25.20 + 21.72) = 0.58

[Timple]

You can simply specify a formatter for can_msgs::msg::Frame. That way you can do:

RCLCPP_INFO(logger_, fmt::format("Received {}", msg));

[Rayman]

Wouldn't this require you to do this?

RCLCPP_INFO(logger_, "%s", fmt::format("Received {}", msg).c_str());
RCLCPP_INFO_STREAM(logger_, fmt::format("Received {}", msg));

[Timple]

Ah, good point. Actually one of these two I think:

RCLCPP_INFO(logger_, fmt::format("Received {}", msg).data());
RCLCPP_INFO_STREAM(logger_, fmt::format("Received {}", msg));

[Rayman]

The first is dangerous because use data could contain a string formatting. Also you should use c_str because it should be null terminated.

So the second option seems more clean, but then I could also just add a stream operator and not use fmt at all...

[Timple]

.data() is the same as .c_str() but works on std::string_view and std::string.

At least, that was my understanding.

[Rayman]

It seems that since C++11 they are required to be the same. But indeed .data() is available for string_views.

[Rayman]

I'm now using ostream because its a bit more readable

[Timple]

I'd call it ros2_socketcan_bridge for SEO purposes ;-)