Merged
Conversation
|
This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/ros2-middleware-change-proposal/15863/20 |
irobot-ros
force-pushed
the
irobot/add-events-executor
branch
from
9475e03 to
eadac9e
Compare
wjwwood
force-pushed
the
irobot/add-events-executor
branch
2 times, most recently
from
59cccfe to
e5b59cf
Compare
added 3 commits
January 11, 2022 19:01
add constness Use or discard previous events: Guard conditions Rename to set_events_executor_callback Add events support void return on set_events_executor_callback Revert "void return on set_events_executor_callback" Signed-off-by: Alberto Soragna <asoragna@irobot.com>
Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
wjwwood
force-pushed
the
irobot/add-events-executor
branch
from
e5b59cf to
f36c4af
Compare
Signed-off-by: William Woodall <william@osrfoundation.org>
wjwwood
force-pushed
the
irobot/add-events-executor
branch
from
f36c4af to
70583c4
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR introduces the changes required to implement the
EventsExecutordesign in rmw.See design and Discourse post.
The new executor uses an events queue and a timers manager as opposed to waitsets, to efficiently execute entities with work to do.
This new executor greatly reduces CPU usage of a ROS 2 application.
See the blog post for more details on the tests that we run.
The bulk of the changes for this implementation are in the rclcpp layer, with some minor changes in other repositories (rcl, rmw, rmw_implementation) for forwarding entities, the declaration of some data types in rcutils, and finally some additional changes in the vendor specific rmw implementations..
We currently implemented this only on top of the default ROS middleware fastrtps, while we provided stubs for other middlewares.
See the main PR to rclcpp ros2/rclcpp#1416.
The current implementation does not support ROS 2 actions, which will be added in a follow up PR.
Developed by iRobot
Mauro Passerino
Lenny Story
Alberto Soragna
Connects to: