Todo List

Member nodelet::detail::CallbackQueueManager::QueueInfo::thread_index

Could get rid of st_mutex by updating [thread_index|in_thread] atomically

Member nodelet::detail::CallbackQueueManager::ThreadInfo::queue_mutex

SRSW lockfree queue

Member nodelet::detail::CallbackQueueManager::V_Queue

SRMW lockfree queue. waiting_mutex_ has the potential for a lot of contention

Member nodelet::detail::CallbackQueueManager::V_ThreadInfo

Use cache-aligned allocator for thread_info_

Member nodelet::Loader::load (const std::string &name, const std::string &type, const M_string &remappings, const V_string &my_argv)

Can we delay processing the queues until Nodelet::onInit() returns?

Member nodelet::Loader::Loader (bool provide_ros_api=true)

Instance of ROS API-related constructors, just take #threads for the manager

Class nodelet::LoaderROS

Consider moving this to nodelet executable, it's implemented entirely on top of Loader

Member nodelet::ManagedNodelet::ManagedNodelet (const NodeletPtr &nodelet, detail::CallbackQueueManager *cqm)

Maybe addQueue/removeQueue should be done by CallbackQueue