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ROS: Further understanding the diffrence of MultiThreadedSpinner and AsyncSpinner

I have several years of experience with robot software development using ROS, especially ROS Noetic. I want to clarify my understanding about ...
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1 answer
452 views

spin_until_future_complete in an already spinning node

I’m making a program, this program has a rclcpp::node and is running with several threads. In the main thread I have executor.add_node(node); executor.spin(); this ...
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0 answers
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Behavior Tree with moveit on ros1

Right now I am unable to execute the moveit and i am not sure why, I thought it could be due to Async Spinner but when i added a async spinner in the main or in the class itself it always aborts ...
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227 views

rclcpp::spin_until_future_complete(): Timeout for "non-blocking" call

tl;dr Expected behaviour: Having a non-blocking spin. Current behaviour: spin_until_future_complete() always returns timeout without firing any topic callback Hi, I am working on implementing the ...
0 votes
1 answer
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Do Timers run in different threads? [roscpp]

I'm wondering if I'm setting up different timers, do they run in different threads using roscpp? The background is that one Timer callback is taking a longer time to be executed and, therefore, I want ...
0 votes
1 answer
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Does ros::shutdown() also stop all Async spinner threads?

This might be a very basic question but I couldn`t find an exact answer anywhere . Does the ros::shutdown() command also stop all the Async spinner threads automatically? I have a lot of blocking ...
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1 answer
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AsyncSpinner and MoveIt!

Hello, When I followed the tutorials of MoveIt!(C++), I found this line: ros::AsyncSpinner spinner(1); spinner.start(); I searched for it and know its ...
0 votes
1 answer
20 views

Stopping std::threads in ROS

I am trying to stop two threads from within a while loop but it doesn't stop on the Ctrl+C (SIGINT).How do I terminate the threads on receiving Ctrl+C from CLI? Would an ...
0 votes
1 answer
7 views

How to decide the thread count for AsyncSpinner?

I am using AsyncSpinner on ROS Indigo to receive the data from multiple point cloud sensors simultaneously. Below is the same code: ...
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1 answer
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Nodes are takin 100% cpu on any computer

Hi, I am using couple callback queues in my nodes with asyncSpinner. It does not matter on which computer I'm placing it (Odroid XU4, NUC) it does consume 100% CPU. Can anyone point o what I'm missing ...
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1 answer
6 views

Subcriber callback's rate is lower then publisher's publish rate

Hi, I've been working on the implementation of a EKF and have been running into a strange issue. As some may be familiar the Kalman filter algorithm can be viewed as running two process. The Update ...
0 votes
1 answer
49 views

ROS Threading, AsyncSpinners and Control

Hello everybody, I am a relatively new ROS user (but I've spent years working with other middlewares), and up to now I am generally happy about it. I have a doubt related to my software framework I ...
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1 answer
30 views

Does every ROS node need to spin()?

I have been using ROS for a short time now and learned about callbacks & spinning. My question is, since be default all callbacks are added to the global callback queue, does ros::spin() in node A ...
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1 answer
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multithread can't read 2 topics

I am trying to subscribe to multiple topics and then publish them in a single personal topic, somehow i can't make it run with 2 topics... it only gets the subscription callback for fcu/current_pose (...
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1 answer
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Confusion about AsyncSpinner

Hi, I am confused about the behavior of AsyncSpinner. My understanding is that AsyncSpinner would allow a node to process ...
0 votes
1 answer
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roscpp Callback Thread Safety SEGFAULT

I'm currently subscribing to every topic ever published in my program via ShapeShifter, and deserializing as necessary. This works great, but I'm receiving ...
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2 answers
50 views

How to bind a node to a specific cpu core?

Dear all, I am tyring to run a node with a specific cpu core but have no idea how to do that. What's more, I also want to specify the cpu core of callback functions. I know I can use asynchronous ...
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1 answer
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A question about AsyncSpinner

Dear all, I would like to know what would happen withros::AsyncSpinner spinner(0); Does that mean the callback is still in the same thread as the main program? ...
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1 answer
2 views

subscriber class method callback problem

Hi, i'm trying to make a node that subscribe to a topic ik_from_pose_request that as the name suggest receive pose messages and compute arm joint values with inverse kinematic. I saw that is possible ...
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1 answer
58 views

Multi-threading in ROS nodes and MultiThreadedSpinner and AsyncSpinner

To put it simply: What is the application of multithreading in ros nodes? I am not from a Computer Science background. I have been learning Operating System concepts like processes, threads, signals, ...
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1 answer
102 views

Using Controller Manager and getting it to work

Hi all I'm trying to get a controller to run in a ros_control controller manager and followed the general principles listed on the ros_control git wiki. Now in the controller manager runs in a non-...
0 votes
1 answer
4 views

Can AsyncSpinner spins in functions?

Hi, everyone, I build a simple program to play with turtle under the ROS and Qt environment. Right now I use the signal-slot in Qt to combine the button to the direction function of the turtle in ROS. ...