Events executor

nav2_behaviors/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -30,6 +31,7 @@ set(executable_name behavior_server)
 
 set(dependencies
   rclcpp
+  irobot_events_executor
   rclcpp_action
   rclcpp_lifecycle
   rclcpp_components

nav2_behaviors/package.xml

@@ -12,6 +12,7 @@
   <build_depend>nav2_common</build_depend>
 
   <build_depend>rclcpp</build_depend>
+  <build_depend>irobot_events_executor</build_depend>
   <build_depend>rclcpp_action</build_depend>
   <build_depend>rclcpp_lifecycle</build_depend>
   <build_depend>nav2_behavior_tree</build_depend>

nav2_behaviors/src/main.cpp

@@ -16,14 +16,18 @@
 #include <memory>
 
 #include "nav2_behaviors/behavior_server.hpp"
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto recoveries_node = std::make_shared<behavior_server::BehaviorServer>();
 
-  rclcpp::spin(recoveries_node->get_node_base_interface());
+  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
+
+  executor->add_node(recoveries_node->get_node_base_interface());
+  executor->spin();
   rclcpp::shutdown();
 
   return 0;

nav2_controller/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(angles REQUIRED)
@@ -36,6 +37,7 @@ add_library(${library_name} SHARED
 set(dependencies
   angles
   rclcpp
+  irobot_events_executor
   rclcpp_action
   rclcpp_components
   std_msgs

nav2_controller/src/main.cpp

@@ -15,13 +15,19 @@
 #include <memory>
 
 #include "nav2_controller/controller_server.hpp"
+
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_controller::ControllerServer>();
-  rclcpp::spin(node->get_node_base_interface());
+
+  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
+
+  executor->add_node(node->get_node_base_interface());
+  executor->spin();
   rclcpp::shutdown();
 
   return 0;

nav2_costmap_2d/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(map_msgs REQUIRED)
@@ -54,6 +55,7 @@ add_library(nav2_costmap_2d_core SHARED
 
 set(dependencies
   geometry_msgs
+  irobot_events_executor
   laser_geometry
   map_msgs
   message_filters

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -58,6 +58,9 @@
 #include "tf2/time.h"
 #include "tf2/transform_datatypes.h"
 
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/events_executor/events_executor.hpp"
+
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.h"
@@ -313,7 +316,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
 
   // Dedicated callback group and executor for tf timer_interface and message fillter
   rclcpp::CallbackGroup::SharedPtr callback_group_;
-  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
+  rclcpp::executors::EventsExecutor::SharedPtr executor_;
   std::unique_ptr<nav2_util::NodeThread> executor_thread_;
 
   // Transform listener

nav2_costmap_2d/package.xml

@@ -38,6 +38,7 @@
   <depend>tf2_sensor_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>angles</depend>
+  <depend>irobot_events_executor</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -202,7 +202,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   // Add cleaning service
   clear_costmap_service_ = std::make_unique<ClearCostmapService>(shared_from_this(), *this);
 
-  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  executor_ = std::make_shared<rclcpp::executors::EventsExecutor>();
   executor_->add_callback_group(callback_group_, get_node_base_interface());
   executor_thread_ = std::make_unique<nav2_util::NodeThread>(executor_);
   return nav2_util::CallbackReturn::SUCCESS;

nav2_lifecycle_manager/CMakeLists.txt

@@ -4,6 +4,7 @@ project(nav2_lifecycle_manager)
 find_package(ament_cmake REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(lifecycle_msgs REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
@@ -36,6 +37,7 @@ set(dependencies
   nav2_msgs
   nav2_util
   rclcpp
+  irobot_events_executor
   rclcpp_action
   rclcpp_lifecycle
   rclcpp_components

nav2_lifecycle_manager/package.xml

@@ -21,6 +21,7 @@
   <build_depend>bondcpp</build_depend>
   <build_depend>nav2_common</build_depend>
   <build_depend>diagnostic_updater</build_depend>
+  <build_depend>irobot_events_executor</build_depend>
 
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>lifecycle_msgs</exec_depend>

nav2_lifecycle_manager/src/lifecycle_manager.cpp

@@ -20,6 +20,7 @@
 #include <string>
 #include <vector>
 
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using namespace std::chrono_literals;
@@ -99,7 +100,7 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
           },
           callback_group_);
       }
-      auto executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+      auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
       executor->add_callback_group(callback_group_, get_node_base_interface());
       service_thread_ = std::make_unique<nav2_util::NodeThread>(executor);
     });

nav2_lifecycle_manager/src/main.cpp

@@ -15,13 +15,18 @@
 #include <memory>
 
 #include "nav2_lifecycle_manager/lifecycle_manager.hpp"
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_lifecycle_manager::LifecycleManager>();
-  rclcpp::spin(node);
+
+  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
+
+  executor->add_node(node->get_node_base_interface());
+  executor->spin();
   rclcpp::shutdown();
 
   return 0;

nav2_planner/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -30,6 +31,7 @@ set(library_name ${executable_name}_core)
 
 set(dependencies
   rclcpp
+  irobot_events_executor
   rclcpp_action
   rclcpp_lifecycle
   rclcpp_components

nav2_planner/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>irobot_events_executor</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>visualization_msgs</depend>

nav2_planner/src/main.cpp

@@ -16,13 +16,20 @@
 #include <memory>
 
 #include "nav2_planner/planner_server.hpp"
+
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_planner::PlannerServer>();
-  rclcpp::spin(node->get_node_base_interface());
+
+  auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();
+
+  executor->add_node(node->get_node_base_interface());
+  executor->spin();
+
   rclcpp::shutdown();
 
   return 0;

nav2_util/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(nav2_util)
 
 find_package(ament_cmake REQUIRED)
+find_package(irobot_events_executor REQUIRED)
 find_package(nav2_common REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
@@ -21,6 +22,7 @@ find_package(action_msgs REQUIRED)
 set(dependencies
     nav2_msgs
     tf2_ros
+    irobot_events_executor
     tf2
     tf2_geometry_msgs
     geometry_msgs

nav2_util/include/nav2_util/node_thread.hpp

@@ -18,6 +18,7 @@
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 
 namespace nav2_util
 {
@@ -38,7 +39,7 @@ class NodeThread
    * @brief A background thread to process executor's callbacks constructor
    * @param executor Interface to executor to spin in thread
    */
-  explicit NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor);
+  explicit NodeThread(rclcpp::executors::EventsExecutor::SharedPtr executor);
 
   /**
    * @brief A background thread to process node callbacks constructor

nav2_util/include/nav2_util/service_client.hpp

@@ -17,6 +17,8 @@
 
 #include <string>
 
+
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace nav2_util
@@ -145,7 +147,7 @@ class ServiceClient
   std::string service_name_;
   rclcpp::Node::SharedPtr node_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;
-  rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
+  rclcpp::executors::EventsExecutor callback_group_executor_;
   typename rclcpp::Client<ServiceT>::SharedPtr client_;
 };
 

nav2_util/include/nav2_util/simple_action_server.hpp

@@ -22,6 +22,8 @@
 #include <future>
 #include <chrono>
 
+
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "nav2_util/node_thread.hpp"
@@ -122,7 +124,7 @@ class SimpleActionServer
       options,
       callback_group_);
     if (spin_thread_) {
-      executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+      executor_ = std::make_shared<rclcpp::executors::EventsExecutor>();
       executor_->add_callback_group(callback_group_, node_base_interface_);
       executor_thread_ = std::make_unique<nav2_util::NodeThread>(executor_);
     }
@@ -521,7 +523,7 @@ class SimpleActionServer
   typename rclcpp_action::Server<ActionT>::SharedPtr action_server_;
   bool spin_thread_;
   rclcpp::CallbackGroup::SharedPtr callback_group_{nullptr};
-  rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
+  rclcpp::executors::EventsExecutor::SharedPtr executor_;
   std::unique_ptr<nav2_util::NodeThread> executor_thread_;
 
   /**

nav2_util/package.xml

@@ -28,6 +28,7 @@
   <depend>launch</depend>
   <depend>launch_testing_ament_cmake</depend>
   <depend>action_msgs</depend>
+  <depend>irobot_events_executor</depend>
 
   <exec_depend>libboost-program-options</exec_depend>
 

nav2_util/src/CMakeLists.txt

@@ -1,3 +1,6 @@
+
+find_package(irobot_events_executor REQUIRED)
+
 add_library(${library_name} SHARED
   costmap.cpp
   node_utils.cpp
@@ -12,6 +15,7 @@ add_library(${library_name} SHARED
 
 ament_target_dependencies(${library_name}
   rclcpp
+  irobot_events_executor
   nav2_msgs
   tf2
   tf2_ros

nav2_util/src/node_thread.cpp

@@ -15,14 +15,16 @@
 #include <memory>
 
 #include "nav2_util/node_thread.hpp"
+#include "rclcpp/executors/events_executor/events_executor.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 namespace nav2_util
 {
 
 NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base)
 : node_(node_base)
 {
-  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  executor_ = std::make_shared<rclcpp::executors::EventsExecutor>();
   thread_ = std::make_unique<std::thread>(
     [&]()
     {
@@ -32,7 +34,7 @@ NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr nod
     });
 }
 
-NodeThread::NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor)
+NodeThread::NodeThread(rclcpp::executors::EventsExecutor::SharedPtr executor)
 : executor_(executor)
 {
   thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});

nav2_util/test/test_lifecycle_utils.cpp

@@ -18,6 +18,8 @@
 #include "gtest/gtest.h"
 #include "nav2_util/lifecycle_utils.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "rclcpp/executors/events_executor/events_executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 using nav2_util::startup_lifecycle_nodes;
@@ -35,7 +37,7 @@ void SpinNodesUntilDone(
   std::vector<rclcpp_lifecycle::LifecycleNode::SharedPtr> nodes,
   std::atomic<bool> * test_done)
 {
-  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::executors::EventsExecutor exec;
   for (const auto & node : nodes) {
     exec.add_node(node->get_node_base_interface());
   }