Change to single thread in code, not just sim

csiro-robotics · Sep 26, 2024 · 903eec8 · 903eec8
1 parent 3c0a016
commit 903eec8
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diff --git a/interbotix_ros_xseries/COLCON_IGNORE b/interbotix_ros_xseries/COLCON_IGNORE
diff --git a/interbotix_ros_xseries/interbotix_xs_sdk/src/xs_sdk.cpp b/interbotix_ros_xseries/interbotix_xs_sdk/src/xs_sdk.cpp
@@ -36,7 +36,7 @@ int main(int argc, char ** argv)
   bool success = true;
   auto node = std::make_shared<interbotix_xs::InterbotixRobotXS>(success);
   if (success) {
-    rclcpp::executors::MultiThreadedExecutor exec;
+    rclcpp::executors::SingleThreadedExecutor exec;
     exec.add_node(node);
     exec.spin();
   } else {