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Select executor in node registration #1898

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Merged
merged 2 commits into from
Mar 18, 2022
Merged

Select executor in node registration #1898

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8c4e794
Select executor
HiroIshida Mar 18, 2022
9ddf60c
Fix indent
HiroIshida Mar 18, 2022
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9 changes: 8 additions & 1 deletion rclcpp_components/cmake/rclcpp_components_register_node.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
# :type RESOURCE_INDEX: string
#
macro(rclcpp_components_register_node target)
cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE;RESOURCE_INDEX" "" ${ARGN})
cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE;EXECUTOR;RESOURCE_INDEX" "" ${ARGN})
if(ARGS_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "rclcpp_components_register_node() called with unused "
"arguments: ${ARGS_UNPARSED_ARGUMENTS}")
Expand All @@ -46,6 +46,13 @@ macro(rclcpp_components_register_node target)
message(STATUS "Setting component resource index to non-default value ${resource_index}")
endif()

# default to executor if not specified otherwise
set(executor "SingleThreadedExecutor")
if(NOT "${ARGS_EXECUTOR}" STREQUAL "")
set(executor ${ARGS_EXECUTOR})
message(STATUS "Setting executor non-default value ${executor}")
endif()

set(component ${ARGS_PLUGIN})
set(node ${ARGS_EXECUTABLE})
_rclcpp_components_register_package_hook()
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2 changes: 1 addition & 1 deletion rclcpp_components/src/node_main.cpp.in
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Expand Up @@ -27,7 +27,7 @@ int main(int argc, char * argv[])
{
auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
rclcpp::executors::SingleThreadedExecutor exec;
rclcpp::executors::@executor@ exec;
rclcpp::NodeOptions options;
options.arguments(args);
std::vector<class_loader::ClassLoader * > loaders;
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