Iterative execution of two nodes at different rates

edit

Hi all,

I want to execute two nodes in the same process, each one configured with its own rate. I don't want to use timers, as I want a graceful degradation if the work to do in each cycle is longer than expected. I got it using the next code, but I feel that it is quite weird. I am using an executor only to wait. Any better solution?

   Component::Component(const std::string & id, float rate)
   : rclcpp_lifecycle::LifecycleNode(id), rate_(rate)
   { }

   void
    Component::execute()
    {
      while (rclcpp::ok()) {
        if (this->get_current_state().id() == State::PRIMARY_STATE_ACTIVE)
        {
          // Do some work
        }

        rclcpp::spin_some(this->get_node_base_interface());
        rate_.sleep();
      }
    } 

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);
  rclcpp::executors::SingleThreadedExecutor executor;

  auto component_1 = std::make_shared<Component>("component_1", 1);
  auto component_2 = std::make_shared<Component>("component_2", 2);

  std::thread{std::bind(&Component::execute, component_1)}.detach();
  std::thread{std::bind(&Component::execute, component_2)}.detach();

  executor.spin();
  rclcpp::shutdown();

  return 0;
}

Best, Francisco