Implicit multithreading in ROS2
There's a nice example of explicit multithreading here, but coming from ROS1 .launch files to launch.py scripts we lose the implicit multithreading and thread pooling of individual nodelets in a node manager but instead get everything in a single thread with the associated performance hit.
Am I missing a simple way to add all of my ComposableNode()s to a thread pool or something similar?
UPDATE: I've reported this as a bug.
how is this a bug exactly?
At maximum it seems like unexpected behaviour, but only if you allow yourself to assume the ROS 2 executors behave like ROS 1, which is not guaranteed (or even implied I believe).
I've found that
ComposableNodeContainer(executable='component_container_mt', ...)does what I want.