Coordinate the order and timing of available communication tasks. More...

#include <rclcpp/executor.hpp>

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Public Member Functions
RCLCPP_PUBLIC	Executor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions())
	Default constructor. More...

virtual RCLCPP_PUBLIC	~Executor ()
	Default destructor.

virtual void	spin ()=0
	Do work periodically as it becomes available to us. Blocking call, may block indefinitely.

virtual RCLCPP_PUBLIC void	add_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true)
	Add a callback group to an executor. More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_all_callback_groups ()
	Get callback groups that belong to executor. More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_manually_added_callback_groups ()
	Get callback groups that belong to executor. More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::CallbackGroup::WeakPtr >	get_automatically_added_callback_groups_from_nodes ()
	Get callback groups that belong to executor. More...

virtual RCLCPP_PUBLIC void	remove_callback_group (rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify=true)
	Remove a callback group from the executor. More...

virtual RCLCPP_PUBLIC void	add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true)
	Add a node to the executor. More...

virtual RCLCPP_PUBLIC void	add_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true)
	Convenience function which takes Node and forwards NodeBaseInterface. More...

virtual RCLCPP_PUBLIC void	remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true)
	Remove a node from the executor. More...

virtual RCLCPP_PUBLIC void	remove_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true)
	Convenience function which takes Node and forwards NodeBaseInterface. More...

template<typename RepT = int64_t, typename T = std::milli>
void	spin_node_once (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::duration< RepT, T > timeout=std::chrono::duration< RepT, T >(-1))
	Add a node to executor, execute the next available unit of work, and remove the node. More...

template<typename NodeT = rclcpp::Node, typename RepT = int64_t, typename T = std::milli>
void	spin_node_once (std::shared_ptr< NodeT > node, std::chrono::duration< RepT, T > timeout=std::chrono::duration< RepT, T >(-1))
	Convenience function which takes Node and forwards NodeBaseInterface.

RCLCPP_PUBLIC void	spin_node_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
	Add a node, complete all immediately available work, and remove the node. More...

RCLCPP_PUBLIC void	spin_node_some (std::shared_ptr< rclcpp::Node > node)
	Convenience function which takes Node and forwards NodeBaseInterface.

virtual RCLCPP_PUBLIC void	spin_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0))
	Collect work once and execute all available work, optionally within a duration. More...

virtual RCLCPP_PUBLIC void	spin_all (std::chrono::nanoseconds max_duration)
	Collect and execute work repeatedly within a duration or until no more work is available. More...

virtual RCLCPP_PUBLIC void	spin_once (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))

template<typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>
FutureReturnCode	spin_until_future_complete (const FutureT &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, TimeT >(-1))
	Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted. More...

RCLCPP_PUBLIC void	cancel ()
	Cancel any running spin* function, causing it to return. More...

RCLCPP_PUBLIC void	set_memory_strategy (memory_strategy::MemoryStrategy::SharedPtr memory_strategy)
	Support dynamic switching of the memory strategy. More...

RCLCPP_PUBLIC bool	is_spinning ()
	Returns true if the executor is currently spinning. More...

Protected Types
typedef std::map< rclcpp::CallbackGroup::WeakPtr, const rclcpp::GuardCondition *, std::owner_less< rclcpp::CallbackGroup::WeakPtr > >	WeakCallbackGroupsToGuardConditionsMap

Protected Member Functions
RCLCPP_PUBLIC void	spin_node_once_nanoseconds (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node, std::chrono::nanoseconds timeout)

RCLCPP_PUBLIC void	spin_some_impl (std::chrono::nanoseconds max_duration, bool exhaustive)

RCLCPP_PUBLIC void	execute_any_executable (AnyExecutable &any_exec)
	Find the next available executable and do the work associated with it. More...

RCLCPP_PUBLIC void	wait_for_work (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))

RCLCPP_PUBLIC rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_by_group (const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, rclcpp::CallbackGroup::SharedPtr group)

RCLCPP_PUBLIC bool	has_node (const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes) const
	Return true if the node has been added to this executor. More...

RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr	get_group_by_timer (rclcpp::TimerBase::SharedPtr timer)

virtual RCLCPP_PUBLIC void	add_callback_group_to_map (rclcpp::CallbackGroup::SharedPtr group_ptr, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, bool notify=true) RCPPUTILS_TSA_REQUIRES(mutex_)
	Add a callback group to an executor. More...

virtual RCLCPP_PUBLIC void	remove_callback_group_from_map (rclcpp::CallbackGroup::SharedPtr group_ptr, WeakCallbackGroupsToNodesMap &weak_groups_to_nodes, bool notify=true) RCPPUTILS_TSA_REQUIRES(mutex_)
	Remove a callback group from the executor. More...

RCLCPP_PUBLIC bool	get_next_ready_executable (AnyExecutable &any_executable)

RCLCPP_PUBLIC bool	get_next_ready_executable_from_map (AnyExecutable &any_executable, const WeakCallbackGroupsToNodesMap &weak_groups_to_nodes)

RCLCPP_PUBLIC bool	get_next_executable (AnyExecutable &any_executable, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))

virtual RCLCPP_PUBLIC void	add_callback_groups_from_nodes_associated_to_executor () RCPPUTILS_TSA_REQUIRES(mutex_)
	Add all callback groups that can be automatically added from associated nodes. More...

memory_strategy::MemoryStrategy::SharedPtr memory_strategy_	RCPPUTILS_TSA_PT_GUARDED_BY (mutex_)
	The memory strategy: an interface for handling user-defined memory allocation strategies.

virtual RCLCPP_PUBLIC void	spin_once_impl (std::chrono::nanoseconds timeout)

WeakCallbackGroupsToGuardConditionsMap weak_groups_to_guard_conditions_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps callback groups to guard conditions

WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps callback groups associated to nodes

WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps callback groups to nodes associated with executor

WeakCallbackGroupsToNodesMap weak_groups_to_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	maps all callback groups to nodes

std::list< rclcpp::node_interfaces::NodeBaseInterface::WeakPtr > weak_nodes_	RCPPUTILS_TSA_GUARDED_BY (mutex_)
	nodes that are associated with the executor

Static Protected Member Functions
static RCLCPP_PUBLIC void	execute_subscription (rclcpp::SubscriptionBase::SharedPtr subscription)

static RCLCPP_PUBLIC void	execute_timer (rclcpp::TimerBase::SharedPtr timer)

static RCLCPP_PUBLIC void	execute_service (rclcpp::ServiceBase::SharedPtr service)

static RCLCPP_PUBLIC void	execute_client (rclcpp::ClientBase::SharedPtr client)

Protected Attributes
std::atomic_bool	spinning
	Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins.

rclcpp::GuardCondition	interrupt_guard_condition_
	Guard condition for signaling the rmw layer to wake up for special events.

std::shared_ptr< rclcpp::GuardCondition >	shutdown_guard_condition_

rcl_wait_set_t	wait_set_ = rcl_get_zero_initialized_wait_set()
	Wait set for managing entities that the rmw layer waits on.

std::mutex	mutex_

std::shared_ptr< rclcpp::Context >	context_
	The context associated with this executor.

rclcpp::OnShutdownCallbackHandle	shutdown_callback_handle_
	shutdown callback handle registered to Context

Detailed Description

Coordinate the order and timing of available communication tasks.

Executor provides spin functions (including spin_node_once and spin_some). It coordinates the nodes and callback groups by looking for available work and completing it, based on the threading or concurrency scheme provided by the subclass implementation. An example of available work is executing a subscription callback, or a timer callback. The executor structure allows for a decoupling of the communication graph and the execution model. See SingleThreadedExecutor and MultiThreadedExecutor for examples of execution paradigms.

Definition at line 65 of file executor.hpp.

Constructor & Destructor Documentation

◆ Executor()

Executor::Executor ( const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions() )

explicit

Default constructor.

Parameters

[in] options Options used to configure the executor.

Definition at line 46 of file executor.cpp.

References context_, interrupt_guard_condition_, RCL_RET_OK, rcl_wait_set_init(), shutdown_callback_handle_, and wait_set_.

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Member Function Documentation

◆ add_callback_group()

void Executor::add_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

virtual

Add a callback group to an executor.

An executor can have zero or more callback groups which provide work during spin functions. When an executor attempts to add a callback group, the executor checks to see if it is already associated with another executor, and if it has been, then an exception is thrown. Otherwise, the callback group is added to the executor.

Adding a callback group with this method does not associate its node with this executor in any way

Parameters

[in]	group_ptr	a shared ptr that points to a callback group
[in]	node_ptr	a shared pointer that points to a node base interface
[in]	notify	True to trigger the interrupt guard condition during this function. If the executor is blocked at the rmw layer while waiting for work and it is notified that a new callback group was added, it will wake up.

Exceptions

std::runtime_error if the callback group is associated to an executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 239 of file executor.cpp.

References add_callback_group_to_map().

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◆ add_callback_group_to_map()

void Executor::add_callback_group_to_map	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes,
		bool	notify = `true`
	)

protectedvirtual

Add a callback group to an executor.

See also: rclcpp::Executor::add_callback_group

Definition at line 196 of file executor.cpp.

References interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

Referenced by add_callback_group().

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◆ add_callback_groups_from_nodes_associated_to_executor()

void Executor::add_callback_groups_from_nodes_associated_to_executor ( )

protectedvirtual

Add all callback groups that can be automatically added from associated nodes.

The executor, before collecting entities, verifies if any callback group from nodes associated with the executor, which is not already associated to an executor, can be automatically added to this executor. This takes care of any callback group that has been added to a node but not explicitly added to the executor. It is important to note that in order for the callback groups to be automatically added to an executor through this function, the node of the callback groups needs to have been added through the add_node method.

Definition at line 172 of file executor.cpp.

Referenced by wait_for_work().

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◆ add_node() [1/2]

void Executor::add_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

virtual

Add a node to the executor.

Nodes have associated callback groups, and this method adds any of those callback groups to this executor which have their automatically_add_to_executor_with_node parameter true. The node is also associated with the executor so that future callback groups which are created on the node with the automatically_add_to_executor_with_node parameter set to true are also automatically associated with this executor.

Callback groups with the automatically_add_to_executor_with_node parameter set to false must be manually added to an executor using the rclcpp::Executor::add_callback_group method.

If a node is already associated with an executor, this method throws an exception.

Parameters

[in]	node_ptr	Shared pointer to the node to be added.
[in]	notify	True to trigger the interrupt guard condition during this function. If the executor is blocked at the rmw layer while waiting for work and it is notified that a new node was added, it will wake up.

Exceptions

std::runtime_error if a node is already associated to an executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 253 of file executor.cpp.

Referenced by add_node(), rclcpp::spin(), and spin_node_some().

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◆ add_node() [2/2]

void Executor::add_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

virtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::add_node

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 336 of file executor.cpp.

References add_node().

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◆ cancel()

void Executor::cancel ( )

Cancel any running spin* function, causing it to return.

This function can be called asynchonously from any thread.

Exceptions

std::runtime_error if there is an issue triggering the guard condition

Definition at line 487 of file executor.cpp.

References interrupt_guard_condition_, spinning, and rclcpp::GuardCondition::trigger().

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◆ execute_any_executable()

void Executor::execute_any_executable ( AnyExecutable & any_exec )

protected

Find the next available executable and do the work associated with it.

Parameters

[in] any_exec Union structure that can hold any executable type (timer, subscription, service, client).

Exceptions

std::runtime_error if there is an issue triggering the guard condition

Definition at line 509 of file executor.cpp.

References interrupt_guard_condition_, spinning, and rclcpp::GuardCondition::trigger().

Referenced by rclcpp::executors::SingleThreadedExecutor::spin().

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◆ get_all_callback_groups()

std::vector< rclcpp::CallbackGroup::WeakPtr > Executor::get_all_callback_groups ( )

virtual

Get callback groups that belong to executor.

This function returns a vector of weak pointers that point to callback groups that were associated with the executor. The callback groups associated with this executor may have been added with add_callback_group, or added when a node was added to the executor with add_node, or automatically added when it created by a node already associated with this executor and the automatically_add_to_executor_with_node parameter was true.

Returns: a vector of weak pointers that point to callback groups that are associated with the executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 136 of file executor.cpp.

◆ get_automatically_added_callback_groups_from_nodes()

std::vector< rclcpp::CallbackGroup::WeakPtr > Executor::get_automatically_added_callback_groups_from_nodes ( )

virtual

Get callback groups that belong to executor.

This function returns a vector of weak pointers that point to callback groups that were added from a node that is associated with the executor. The callback groups are added when a node is added to the executor with add_node, or automatically if they are created in the future by that node and have the automatically_add_to_executor_with_node argument set to true.

Returns: a vector of weak pointers that point to callback groups from a node associated with the executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 161 of file executor.cpp.

◆ get_manually_added_callback_groups()

std::vector< rclcpp::CallbackGroup::WeakPtr > Executor::get_manually_added_callback_groups ( )

virtual

Get callback groups that belong to executor.

This function returns a vector of weak pointers that point to callback groups that were associated with the executor. The callback groups associated with this executor have been added with add_callback_group.

Returns: a vector of weak pointers that point to callback groups that are associated with the executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 150 of file executor.cpp.

◆ has_node()

bool Executor::has_node	(	const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		const WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes
	)		const

protected

Return true if the node has been added to this executor.

Parameters

[in]	node_ptr	a shared pointer that points to a node base interface
[in]	weak_groups_to_nodes	map to nodes to lookup

Returns: true if the node is associated with the executor, otherwise false

Definition at line 929 of file executor.cpp.

Referenced by remove_callback_group_from_map().

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◆ is_spinning()

bool Executor::is_spinning ( )

Returns true if the executor is currently spinning.

This function can be called asynchronously from any thread.

Returns: True if the executor is currently spinning.

Definition at line 944 of file executor.cpp.

References spinning.

◆ remove_callback_group()

void Executor::remove_callback_group	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		bool	notify = `true`
	)

virtual

Remove a callback group from the executor.

The callback group is removed from and disassociated with the executor. If the callback group removed was the last callback group from the node that is associated with the executor, the interrupt guard condition is triggered and node's guard condition is removed from the executor.

This function only removes a callback group that was manually added with rclcpp::Executor::add_callback_group. To remove callback groups that were added from a node using rclcpp::Executor::add_node, use rclcpp::Executor::remove_node instead.

Parameters

[in]	group_ptr	Shared pointer to the callback group to be added.
[in]	notify	True to trigger the interrupt guard condition during this function. If the executor is blocked at the rmw layer while waiting for work and it is notified that a callback group was removed, it will wake up.

Exceptions

std::runtime_error	if node is deleted before callback group
std::runtime_error	if the callback group is not associated with the executor

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 324 of file executor.cpp.

References remove_callback_group_from_map().

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◆ remove_callback_group_from_map()

void Executor::remove_callback_group_from_map	(	rclcpp::CallbackGroup::SharedPtr	group_ptr,
		WeakCallbackGroupsToNodesMap &	weak_groups_to_nodes,
		bool	notify = `true`
	)

protectedvirtual

Remove a callback group from the executor.

See also: rclcpp::Executor::remove_callback_group

Definition at line 281 of file executor.cpp.

References has_node(), interrupt_guard_condition_, and rclcpp::GuardCondition::trigger().

Referenced by remove_callback_group(), and remove_node().

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◆ remove_node() [1/2]

void Executor::remove_node	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		bool	notify = `true`
	)

virtual

Remove a node from the executor.

Any callback groups automatically added when this node was added with rclcpp::Executor::add_node are automatically removed, and the node is no longer associated with this executor.

This also means that future callback groups created by the given node are no longer automatically added to this executor.

Parameters

[in]	node_ptr	Shared pointer to the node to remove.
[in]	notify	True to trigger the interrupt guard condition and wake up the executor. This is useful if the last node was removed from the executor while the executor was blocked waiting for work in another thread, because otherwise the executor would never be notified.

Exceptions

std::runtime_error	if the node is not associated with an executor.
std::runtime_error	if the node is not associated with this executor.

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 342 of file executor.cpp.

References remove_callback_group_from_map().

Referenced by remove_node(), rclcpp::spin(), and spin_node_some().

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◆ remove_node() [2/2]

void Executor::remove_node	(	std::shared_ptr< rclcpp::Node >	node_ptr,
		bool	notify = `true`
	)

virtual

Convenience function which takes Node and forwards NodeBaseInterface.

See also: rclcpp::Executor::remove_node

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 386 of file executor.cpp.

References remove_node().

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◆ set_memory_strategy()

void Executor::set_memory_strategy ( memory_strategy::MemoryStrategy::SharedPtr memory_strategy )

Support dynamic switching of the memory strategy.

Switching the memory strategy while the executor is spinning in another threading could have unintended consequences.

Parameters

[in] memory_strategy Shared pointer to the memory strategy to set.

Exceptions

std::runtime_error if memory_strategy is null

Definition at line 499 of file executor.cpp.

◆ spin_all()

void Executor::spin_all ( std::chrono::nanoseconds max_duration )

virtual

Collect and execute work repeatedly within a duration or until no more work is available.

This function can be overridden. The default implementation is suitable for a single-threaded model of execution. Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function to block (which may have unintended consequences). If the time that waitables take to be executed is longer than the period on which new waitables become ready, this method will execute work repeatedly until max_duration has elapsed.

Parameters

[in] max_duration The maximum amount of time to spend executing work, must be >= 0. 0 is potentially block forever until no more work is available.

Exceptions

std::invalid_argument if max_duration is less than 0. Note that spin_all() may take longer than this time as it only returns once max_duration has been exceeded.

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 421 of file executor.cpp.

◆ spin_node_once()

template<typename RepT = int64_t, typename T = std::milli>

void rclcpp::Executor::spin_node_once	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node,
		std::chrono::duration< RepT, T >	timeout = `std::chrono::duration<RepT, T>(-1)`
	)

inline

Add a node to executor, execute the next available unit of work, and remove the node.

Parameters

[in]	node	Shared pointer to the node to add.
[in]	timeout	How long to wait for work to become available. Negative values cause spin_node_once to block indefinitely (the default behavior). A timeout of 0 causes this function to be non-blocking.

Definition at line 248 of file executor.hpp.

◆ spin_node_some()

void Executor::spin_node_some ( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node )

Add a node, complete all immediately available work, and remove the node.

Parameters

[in] node Shared pointer to the node to add.

Definition at line 403 of file executor.cpp.

References add_node(), remove_node(), and spin_some().

Referenced by spin_node_some(), and rclcpp::spin_some().

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◆ spin_some()

void Executor::spin_some ( std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0) )

virtual

Collect work once and execute all available work, optionally within a duration.

This function can be overridden. The default implementation is suitable for a single-threaded model of execution. Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function to block (which may have unintended consequences).

Parameters

[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit. Note that spin_some() may take longer than this time as it only returns once max_duration has been exceeded.

Reimplemented in rclcpp::executors::StaticSingleThreadedExecutor.

Definition at line 416 of file executor.cpp.

Referenced by spin_node_some().

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◆ spin_until_future_complete()

template<typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>

FutureReturnCode rclcpp::Executor::spin_until_future_complete	(	const FutureT &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = `std::chrono::duration<TimeRepT, TimeT>(-1)`
	)

inline

Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.

Parameters

[in]	future	The future to wait on. If this function returns SUCCESS, the future can be accessed without blocking (though it may still throw an exception).
[in]	timeout	Optional timeout parameter, which gets passed to Executor::spin_node_once. `-1` is block forever, `0` is non-blocking. If the time spent inside the blocking loop exceeds this timeout, return a TIMEOUT return code.

Returns: The return code, one of SUCCESS, INTERRUPTED, or TIMEOUT.

Definition at line 334 of file executor.hpp.

◆ wait_for_work()

void Executor::wait_for_work ( std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1) )

protected

Exceptions

std::runtime_error if the wait set can be cleared

Definition at line 690 of file executor.cpp.

References add_callback_groups_from_nodes_associated_to_executor(), RCL_RET_OK, rcl_wait_set_clear(), rcl_wait_set_resize(), and wait_set_.

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The documentation for this class was generated from the following files:

rclcpp/include/rclcpp/executor.hpp
rclcpp/src/rclcpp/executor.cpp

Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Executor()

Member Function Documentation

◆ add_callback_group()

◆ add_callback_group_to_map()

◆ add_callback_groups_from_nodes_associated_to_executor()

◆ add_node() [1/2]

◆ add_node() [2/2]

◆ cancel()

◆ execute_any_executable()

◆ get_all_callback_groups()

◆ get_automatically_added_callback_groups_from_nodes()

◆ get_manually_added_callback_groups()

◆ has_node()

◆ is_spinning()

◆ remove_callback_group()

◆ remove_callback_group_from_map()

◆ remove_node() [1/2]

◆ remove_node() [2/2]

◆ set_memory_strategy()

◆ spin_all()

◆ spin_node_once()

◆ spin_node_some()

◆ spin_some()

◆ spin_until_future_complete()

◆ wait_for_work()