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Add option for the events executor to the isolated component container #2541

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Add option for the events executor to the isolated component container #2541

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60cc8ce
Add option for the events executor to the isolated component container
Timple May 27, 2024
ba7c6a1
Parse '--executor-type'
Timple Jun 24, 2024
b2c64b0
No need for backward compatibility on self introduced option
Timple Jun 25, 2024
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46 changes: 33 additions & 13 deletions rclcpp_components/src/component_container_isolated.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,37 +13,57 @@
// limitations under the License.

#include <memory>
#include <vector>
#include <string>
#include <vector>

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp_components/component_manager_isolated.hpp"

int main(int argc, char * argv[])
{
/// Component container with dedicated single-threaded executors for each components.
/// Component container with dedicated executor for each component
rclcpp::init(argc, argv);

// parse arguments
bool use_multi_threaded_executor{false};
// valid entries: --executor-type single-threaded, --executor-type multi-threaded, --executor-type events
std::vector<std::string> args = rclcpp::remove_ros_arguments(argc, argv);
for (auto & arg : args) {
if (arg == std::string("--use_multi_threaded_executor")) {
use_multi_threaded_executor = true;
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std::string executor_type = "single-threaded"; // default
for (size_t i = 0; i < args.size(); ++i) {
if (args[i] == "--executor-type") {
if (i + 1 < args.size()) {
executor_type = args[i + 1];
break;
}
} else if (args[i] == "--use_multi_threaded_executor") { // backward compatibility
executor_type = "multi-threaded";
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it would be probably nice to add message for user, that this option is deprecated?

}
}

// create executor and component manager
auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
rclcpp::Node::SharedPtr node;
if (use_multi_threaded_executor) {
using ComponentManagerIsolated =
rclcpp_components::ComponentManagerIsolated<rclcpp::executors::MultiThreadedExecutor>;
std::shared_ptr<rclcpp::Executor> exec;
if (executor_type == "events") {
using executor = rclcpp::experimental::executors::EventsExecutor;
using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
exec = std::make_shared<executor>();
node = std::make_shared<ComponentManagerIsolated>(exec);
} else {
using ComponentManagerIsolated =
rclcpp_components::ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
} else if (executor_type == "multi-threaded") {
using executor = rclcpp::executors::MultiThreadedExecutor;
using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
exec = std::make_shared<executor>();
node = std::make_shared<ComponentManagerIsolated>(exec);
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this is also behavior change compared to before. before, it creates ComponentManagerIsolated node with SingleThreadedExecutor always. but now creating ComponentManagerIsolated node with MultiThreadedExecutor, i do not think this is needed since component node is expected to do the simple task like load/unload the components. is this intentional change?

} else if (executor_type == "single-threaded") {
using executor = rclcpp::executors::SingleThreadedExecutor;
using ComponentManagerIsolated = rclcpp_components::ComponentManagerIsolated<executor>;
exec = std::make_shared<executor>();
node = std::make_shared<ComponentManagerIsolated>(exec);
} else {
std::cerr << "Invalid executor type: " << executor_type << std::endl;
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this is actually behavior change compared to before. before, even if user specify the wrong option, that falls back to SingleThreadedExecutor, but now it fails and user does not really know what can be set. it would be probably nice to show what and how executor types are set? or command line helper function can be introduced?

return 1;
}

exec->add_node(node);
exec->spin();
}