Alberto Soragna

@tfoote @Voldivh sorry for the short notice, but would you be available to have a discussion on this in the ROS 2 Client Library Working Group? It's today (August 31th)...

I like this proposal @tfoote! This definitely goes into the direction that I'm pushing for the ROS 2 libraries: expose both user-friendly APIs as well as optimized bare-bone primitives. The...

Our analysis showed that one of the major CPU bottlenecks of ROS 2 is caused by how its abstraction layers are implemented. In particular, getting data from the user application...

CI * Linux [](http://ci.ros2.org/job/ci_linux/17136/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11683/) * Windows [](http://ci.ros2.org/job/ci_windows/17554/)

NOTE: this PR is from iRobot. It looks good to me, but I would like also feedbacks from other reviewers

@asymingt the purpose of this PR is to allow to set the node clock type. There are 3 types of clocks in ros: real time, monotonic and "ros". Currently, you...

New CI: * Linux [](http://ci.ros2.org/job/ci_linux/17194/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11735/) * Windows [](http://ci.ros2.org/job/ci_windows/17616/)

@fujitatomoya I think that comments have been addressed. Anything else to do?

@fujitatomoya I agree on having the clock type to be used as the default clock type for timers... I was assuming that it was already the case. About simulated time:...

EDIT: ignore this CI! I made a mistake when configuring it! CI * Linux [](http://ci.ros2.org/job/ci_linux/17208/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/11751/) * Windows [](http://ci.ros2.org/job/ci_windows/17641/)