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.



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Browse other questions tagged or ask your own question.