Add EventsExecutor #1416
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Add EventsExecutor #1416
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added 30 commits
October 2, 2020 13:48
rename rmw_listener_cb_t->rmw_listener_callback_t
Implement no-op on IPC subscription
Ctests fixes
Check validity of executor pointer
use void * to pass executor ptr
…cutor Proper spin_some behaviour on EventsExecutor
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
remove smart pointer definitions for virtual class
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>
Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>
Asoragna/cleanup
Rework executor callback data
Merged
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This PR introduces the changes required to implement the
EventsExecutordesign in rclcpp.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.
These are the CPU and latency measurements on a RaspberryPi 2 for a 20 nodes system.
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.
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
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