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Use DrakeLcm instead of raw lcm. #30

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pangtao22 opened this issue Jun 18, 2021 · 0 comments
Open

Use DrakeLcm instead of raw lcm. #30

pangtao22 opened this issue Jun 18, 2021 · 0 comments
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pangtao22 commented Jun 18, 2021 •
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After studying the source code of drake's lcm wrapper, I think it's better to switch from lcm's original interface to drake's, for the following reasons:

  • We cannot throw exceptions in subscription callbacks, because they are invoked "indirectly through c functions".
  • We can use mock lcm for unit tests.
@pangtao22 pangtao22 self-assigned this Jun 18, 2021
@pangtao22 pangtao22 mentioned this issue Oct 29, 2021
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