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if I declare an actionlib as
action_server(nh_, "execute_path", boost::bind(&MyClass::executePathCB, this, _1), false)
and also decare as callbacks like lasers and odoms.
Then it seems like executePathCB and other callbacks work as a parallel mode, it is pretty which I expect. But is that true? Or how does it is implement?
By default, callbacks are executed sequentially by ros::spin() and ros::spinOnce(). If you want to execute multiple callbacks in parallel you can use an async spinner or a multithreaded spinner. See roscpp Callbacks and Spinning for details.
Emm. I means if I use action server. executePathCB just acts in a parallel mode with other odoms callbacks, without async spinner. In fact, move_base is just written by traditional ros spin. How does it works?
Asked: 2018-06-09 22:57:47 -0500
Seen: 251 times
Last updated: Jun 10 '18
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