ROS2: non-reentrant callbacks, ignored callbacks

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I think you mean reentract -> reentrant and mutually inclusive -> mutually exclusive.

You are right, however, that having one or many reentrant groups doesn't matter. I would advise putting a callback which you want to be called concurrently into a reentrant callback group. Note, however, that in this case you need to synchronize access to shared resources.

@William I meant mutually inclusive for CallbackGroupType::Reentrant, mutually exclusive would be for CallbackGroupType::MutuallyExclusive. Am I right?

Sorry, I call the opposite of "mutually exclusive" "reentrant". "Mutually inclusive" isn't mentioned anywhere in the code, and while in plain english it might be the opposite, in this case I don't think the term makes sense. If I were to pick an alternative to "reentrant" I'd use "concurrent".

@William Possibly you are right. For me, reentrant is one object, e.g. a single callback. By "mutually inclusive" I meant that more that one (already reentrant) callback in a group ::Reentrant can be called at once. Is it true?

I think there's a language barrier here, because we are speaking about a single callback here. If you have more than one callback defined (e.g. one for laser and one for imu) then they just need to be in separate callback groups, the type doesn't matter.

I meant that more that one (already reentrant) callback in a group ::Reentrant can be called at once. Is it true?

It is also true that more than one callback in a reentrant callback group lets the two callbacks be called concurrently with each other as well as with themselves.

Thanks William!