design icon indicating copy to clipboard operation
design copied to clipboard

Published 20 hours ago • verified publisher icon ros2

Events Executor design

Open irobot-ros opened this issue 3 years ago • 20 comments

This PR presents a design for a new type of executor, with the purpose of addressing some of the long-standing issues of the current implementation. This follows the idea presented in the discourse post https://discourse.ros.org/t/ros2-middleware-change-proposal/15863

The new executor uses an events queue and a timers manager as opposed to waitsets, to efficiently execute entities with work to do.

Developed by iRobot Mauro Passerino Lenny Story Alberto Soragna

Connects to:

  • rmw interface:
    • https://github.com/ros2/rmw/pull/286
    • https://github.com/ros2/rmw_implementation/pull/161
  • client libraries:
    • https://github.com/ros2/rcl/pull/839
    • https://github.com/ros2/rclcpp/pull/1579
  • rmw implementations:
    • https://github.com/ros2/rmw_fastrtps/pull/468
    • https://github.com/ros2/rmw_cyclonedds/pull/256

irobot-ros avatar Oct 21 '20 14:10 irobot-ros