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| StaticSingleThreadedExecutor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions()) |
| Default constructor. See the default constructor for Executor. More...
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virtual | ~StaticSingleThreadedExecutor () |
| Default destrcutor. More...
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void | spin () override |
| Static executor implementation of spin. More...
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void | add_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override |
| Add a node to the executor. More...
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void | add_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override |
| Convenience function which takes Node and forwards NodeBaseInterface. More...
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void | remove_node (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify=true) override |
| Remove a node from the executor. More...
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void | remove_node (std::shared_ptr< rclcpp::Node > node_ptr, bool notify=true) override |
| Convenience function which takes Node and forwards NodeBaseInterface. More...
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template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli> |
rclcpp::FutureReturnCode | spin_until_future_complete (std::shared_future< ResponseT > &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...
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| Executor (const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions()) |
| Default constructor. More...
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virtual | ~Executor () |
| Default destructor. More...
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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...
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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. More...
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void | spin_node_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node) |
| Add a node, complete all immediately available work, and remove the node. More...
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void | spin_node_some (std::shared_ptr< rclcpp::Node > node) |
| Convenience function which takes Node and forwards NodeBaseInterface. More...
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virtual void | spin_some (std::chrono::nanoseconds max_duration=std::chrono::nanoseconds(0)) |
| Complete all available queued work without blocking. More...
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virtual void | spin_once (std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)) |
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template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli> |
FutureReturnCode | spin_until_future_complete (const std::shared_future< ResponseT > &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...
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void | cancel () |
| Cancel any running spin* function, causing it to return. More...
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void | set_memory_strategy (memory_strategy::MemoryStrategy::SharedPtr memory_strategy) |
| Support dynamic switching of the memory strategy. More...
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Static executor implementation.
This executor is a static version of the original single threaded executor. It's static because it doesn't reconstruct the executable list for every iteration. All nodes, callbackgroups, timers, subscriptions etc. are created before spin() is called, and modified only when an entity is added/removed to/from a node.
To run this executor instead of SingleThreadedExecutor replace: rclcpp::executors::SingleThreadedExecutor exec; by rclcpp::executors::StaticSingleThreadedExecutor exec; in your source code and spin node(s) in the following way: exec.add_node(node); exec.spin(); exec.remove_node(node);
template<typename ResponseT , typename TimeRepT = int64_t, typename TimeT = std::milli>
Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
- Parameters
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[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::execute_ready_executables. -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
.
Example usage: rclcpp::executors::StaticSingleThreadedExecutor exec; // ... other part of code like creating node // define future exec.add_node(node); exec.spin_until_future_complete(future);