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Use rclcpp events executor #125

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Flova merged 1 commit into from
May 4, 2023
Merged

Use rclcpp events executor #125

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2 changes: 0 additions & 2 deletions bitbots_buttons/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(test_msgs REQUIRED)
find_package(irobot_events_executor REQUIRED)

add_executable(button_node src/button_node.cpp)
ament_target_dependencies(button_node
Expand All @@ -27,7 +26,6 @@ ament_target_dependencies(button_node
rclcpp
std_msgs
std_srvs
irobot_events_executor
test_msgs)

#enable_bitbots_docs()
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1 change: 0 additions & 1 deletion bitbots_buttons/package.xml
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Expand Up @@ -20,7 +20,6 @@
<depend>bitbots_msgs</depend>
<depend>humanoid_league_msgs</depend>
<depend>bitbots_docs</depend>
<depend>irobot_events_executor</depend>

<export>
<bitbots_documentation>
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4 changes: 2 additions & 2 deletions bitbots_buttons/src/button_node.cpp
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Expand Up @@ -7,7 +7,7 @@
#include <bitbots_msgs/srv/manual_penalize.hpp>
#include <test_msgs/srv/empty.hpp>
#include <std_srvs/srv/set_bool.hpp>
#include <rclcpp/executors/events_executor/events_executor.hpp>
#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>

using std::placeholders::_1;
using namespace std::chrono_literals;
Expand Down Expand Up @@ -200,7 +200,7 @@ int main(int argc, char* argv[]) {
rclcpp::init(argc, argv);
auto buttons_node = std::make_shared<bitbots_buttons::ButtonNode>();

rclcpp::executors::EventsExecutor exec;
rclcpp::experimental::executors::EventsExecutor exec;
exec.add_node(buttons_node);
exec.spin();
rclcpp::shutdown();
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2 changes: 0 additions & 2 deletions bitbots_ros_control/CMakeLists.txt
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Expand Up @@ -17,7 +17,6 @@ find_package(diagnostic_msgs REQUIRED)
find_package(dynamixel_workbench_toolbox REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(humanoid_league_msgs REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(realtime_tools REQUIRED)
Expand Down Expand Up @@ -63,7 +62,6 @@ ament_target_dependencies(ros_control
dynamixel_workbench_toolbox
hardware_interface
humanoid_league_msgs
irobot_events_executor
pluginlib
rclcpp
realtime_tools
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4 changes: 2 additions & 2 deletions bitbots_ros_control/src/node.cpp
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Expand Up @@ -3,7 +3,7 @@
#include <signal.h>
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/executors/events_executor/events_executor.hpp>
#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>

sig_atomic_t volatile request_shutdown = 0;

Expand Down Expand Up @@ -47,7 +47,7 @@ int main(int argc, char *argv[]) {
rclcpp::Rate rate(control_loop_hz);
rclcpp::Time stop_time;
bool shut_down_started = false;
rclcpp::executors::EventsExecutor exec;
rclcpp::experimental::executors::EventsExecutor exec;
exec.add_node(nh);


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