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I have a ROS 2 node that manages a simulation instance. I wish to manage timers for stepping physics and rendering camera views of the simulation environment, where callbacks for either functionality runs on a separate thread.

Rendering leverages OpenGL contexts which need to be managed on a single thread. Therefore, my question is whether it is possible to control timer execution threads in ROS 2 such that I can manage rendering on a single thread. From initial inspection it seems like the MultiThreaded Executor does not provide access to assigning timer callbacks to a specific thread.

Further context can be found here.

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