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There's no API for creating threads in ROS 2. The Executor class calls callbacks (if that's what you mean), and if you want a different threading model form SingleThreadedExecutor and MultiThreadedExecutor then you should make you're own executor, using one of those two as an example. They are fairly simple:
https://github.com/ros2/rclcpp/blob/33a755c535d654c97401eb6d199580368c19eb40/rclcpp/include/rclcpp/executors/single_threaded_executor.hpp#L38-L63
https://github.com/ros2/rclcpp/blob/33a755c535d654c97401eb6d199580368c19eb40/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp#L21-L39
Then you can create an instance of your custom executor, add nodes to it, and then call spin on it.
| | 2 | No.2 Revision |
There's no API for creating threads in ROS 2. The Executor class calls callbacks (if that's what you mean), and if you want a different threading model form from SingleThreadedExecutor and MultiThreadedExecutor then you should make you're own executor, using one of those two as an example. They are fairly simple:
https://github.com/ros2/rclcpp/blob/33a755c535d654c97401eb6d199580368c19eb40/rclcpp/include/rclcpp/executors/single_threaded_executor.hpp#L38-L63
https://github.com/ros2/rclcpp/blob/33a755c535d654c97401eb6d199580368c19eb40/rclcpp/src/rclcpp/executors/single_threaded_executor.cpp#L21-L39
Then you can create an instance of your custom executor, add nodes to it, and then call spin on it.
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