Welcome to synchronizer’s documentation!

Synchronizer

Overview

Allows a leader process to synchronize with a follower process. The mode (synchronous or asynchronous) can be changed programmatically during runtime.

For exemple, in the follower process:

// running at 200Hz when in async mode
double frequency = 200;

// will have loop running sync or async
synchronizer::Follower synchronizer("synchronizer_id",frequency);

while (running)
{
   // code doing things

   // pulsing instead of sleeping
   synchronizer.pulse();
}

and in the leader process:

synchronizer::Leader leader ("synchronizer_id");

leader.start_sync();
for(int i=0;i<1000;i++)
{
    // code doing thing

    // sleeping to get desired frequency
   usleep(1000);

    // requesting the follower to run one iteration
    leader.pulse()

}

leader.stop_sync();

The expected behavior:

• when follower is started, it runs at 200Hz

• when leader is started, leader and follower run at same frequency (~ 1Khz)

• when leader exit (calls stop_sync), follower returns at 200Hz

Python

Python bindings are generated via Pybind11. Python/c++ follower/leader processes are compatible one with another (e.g. follower in python, leader in cpp)

Demos

For concrete examples (c++ and python), look at the demos folder. Note that the follower must be started before leader.

Limitation

A follower can be linked to only one leader (at a time), and a leader to one follower.

Installation and compilation

This is an ament package. Recommanded method for cloning is to use treep with configuration treep_machines_in_motion and project “CORE_ROBOTICS”

Licence

BSD-3 clause

Copyright

Max Planck Gesellschaft, University of New York

Author

Vincent Berenz, Max Planck Institute for Intelligent Systems

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License and Copyrights

BSD 3-Clause License

Copyright (c) 2019, New York University and Max Planck Gesellshaft. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

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