Remove MultiThreadedExecutors and change cluster API by SamuelFoo · Pull Request #8 · BumblebeeAS/filters

SamuelFoo · 2026-05-24T18:56:51Z

Switched to standard rclpy.spin since we got a performance jump by just switching to single threaded executor. (See Performance issues with MultiThreadedExecutor ros2/rclpy#1452)
Changed cluster API to return more results from HDBSCAN

- spike detection - race fix using guard_condition - reorg to reduce number of folders

…ter handling

…m cluster poses node

…hronization code

SamuelFoo · 2026-05-24T20:04:08Z

Remember to squash and merge!

…proper interleaving and minimize PR changes

- Renamed `cluster_poses_node.py` to `cluster_poses_action_node.py` and implemented action server functionality for pose clustering. - Updated `CMakeLists.txt` to install the new action node and retain the original node for backward compatibility. - Enhanced `ClusterResult` class to include additional metrics: `num_cluster_poses` and `num_input_poses`. - Refactored `ClusterPosesNode` to remove action server logic and focus on data collection. - Introduced a new service node `ClusterPosesServiceNode` to handle service-triggered clustering with improved parameter management. - Added periodic clustering functionality to `ClusterPosesServiceNode` for continuous data processing. - Updated README.md to reflect changes in node usage and clarify the purpose of the new action node.

…ements are installed

…age, and remove unnecessary dependencies from package.xml

…topic support - Introduced ClusterSortKey enum for consistent sorting of cluster results. - Refactored get_largest_cluster to get_all_clusters for retrieving all clusters. - Updated action and service nodes to handle multiple pose topics and return structured results. - Enhanced test cases to validate new functionality, including handling of multiple pose topics and empty results. - Adjusted message structures to accommodate new cluster result formats.

… in clustering logic

…stering nodes

codescene-delta-analysis

Code Health Improved (2 files improve in Code Health)

Gates Failed
Enforce advisory code health rules (2 files with Excess Number of Function Arguments, Complex Conditional)

Gates Passed
3 Quality Gates Passed

See analysis details in CodeScene

Reason for failure

Enforce advisory code health rules	Violations	Code Health Impact
cluster_poses_action_node.py	1 advisory rule	9.69	Suppress
cluster_poses_node.py	1 advisory rule	8.96 → 9.69	Suppress

View Improvements

File	Code Health Impact	Categories Improved
cluster_poses_node.py	8.96 → 9.69	Complex Method, Bumpy Road Ahead
cluster_poses_service_node.py	8.71 → 10.00	Complex Method, Large Method, Bumpy Road Ahead

Quality Gate Profile: Clean Code Collective
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codescene-delta-analysis · 2026-05-25T10:29:49Z

+    def _start_subscribers(
+        self,
+        *,
+        odom_topic: str,
+        pose_topics: list[str],
+        sync_tolerance: float,
+        sync_queue_size: int | None = None,
+        max_detection_age_s: float = 0.0,
+    ) -> None:
+        """Subscribe to one odom topic and N pose topics, all feeding one buffer."""
+        if not pose_topics:
+            raise ValueError("pose_topics must contain at least one topic")
+        self._max_detection_age_s = float(max_detection_age_s)
+        qsize = int(sync_queue_size or self._sync_queue_size)
+        self._odom_subscriber = Subscriber(
+            self,
+            Odometry,
+            odom_topic,
+            qos_profile=qos_profile_sensor_data,
+        )
+        for topic in pose_topics:
+            pose_sub = Subscriber(
+                self,
+                PoseStamped,
+                topic,
+                qos_profile=qos_profile_sensor_data,
+            )
+            self._pose_subscribers.append(pose_sub)
+            time_synchronizer = ApproximateTimeSynchronizer(
+                [self._odom_subscriber, pose_sub],
+                queue_size=qsize,
+                slop=float(sync_tolerance),
+            )
+            time_synchronizer.registerCallback(self._synchronized_callback)
+            self._time_synchronizers.append(time_synchronizer)


❌ New issue: Excess Number of Function Arguments
ClusterPosesNode._start_subscribers has 5 arguments, max arguments = 4

_Suppress

…py constraint

…h transforms3d

…nd remove unnecessary package installation

SamuelFoo · 2026-05-26T19:59:33Z

This was approved.

wes-w-z-h added 11 commits May 9, 2026 17:37

BIG CHANGE

4618ac2

- spike detection - race fix using guard_condition - reorg to reduce number of folders

fix: try node cleanup

c5f0e31

fix: separate execution thread

02ba172

fix: no more race swap to single threaded executor

4e801db

feat: better srv node

1277ed1

fix

3ed0c4f

fix: timer handling and readme

0b858ec

feat: pub cached between recluster

ac44c3b

fix: bounded recluster + cleaner shutdown

5d02ab2

feat: tf pub for spike cluster

8bcfc79

refactor: update service to use ClusterPosesSrv and streamline parame…

1942d88

…ter handling

SamuelFoo marked this pull request as draft May 24, 2026 18:57

SamuelFoo self-assigned this May 24, 2026