Behavior of executor and waitset

asked 2020-05-06 04:00:04 -0500

zivy gravatar image

Hi guys,

I am currently working on the project of real-time analysis of ROS2. In the executor, one waitset can only handle each callback only once, assume callbacks are triggered many times. I am wondering if it is possible to make the waitset contain several instances of each callback, i.e., if callback 1 is triggered twice, callback 1 would appear in one waitset twice? If do so, is there any negative influence?

Thank you!

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I would strongly suggest to take a look at some of the posts about this topic (ie: waitsets, rcl, rclcpp, executors and how this interacts with each other) on ROS Discourse in the Next Generation ROS category.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-06 06:21:10 -0500 )edit

Thanks for the reply, I will look at it!

zivy gravatar image zivy  ( 2020-05-06 07:58:45 -0500 )edit