-
Notifications
You must be signed in to change notification settings - Fork 525
Expand file tree
/
Copy pathcomponent_container_isolated.cpp
More file actions
53 lines (48 loc) · 1.91 KB
/
component_container_isolated.cpp
File metadata and controls
53 lines (48 loc) · 1.91 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include <vector>
#include <string>
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/executors/multi_threaded_executor.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.
rclcpp::init(argc, argv);
// parse arguments
bool use_multi_threaded_executor{false};
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;
}
}
// 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>;
node = std::make_shared<ComponentManagerIsolated>(exec);
} else {
using ComponentManagerIsolated =
rclcpp_components::ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
node = std::make_shared<ComponentManagerIsolated>(exec);
}
exec->add_node(node);
exec->spin();
return 0;
}