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2 votes
Accepted

ROS2 data consumer/aggregator pattern

If I understand correctly, you want: Multiple subscribers to receive data, Upon msg of the 'primary subscriber': Aggregate the data of all subscribers (either latest msg or interpolated), Signal ...
JRTG's user avatar
  • 2,074
1 vote

ROS2 multi-threaded executor timers block subscriber callbacks

The default callback group is MutuallyExclusive, so by just running a node in a MultiThreadedExecutor, the callbacks will still not be called concurrently. See this previous answer for more info. EDIT:...
JRTG's user avatar
  • 2,074
1 vote

ROS2: multi nodes, each on a thread in same process

By default, ROS 2 is thread safe: Each node's callbacks are called mutually exclusive (i.e. only one callback per node is called at a time, there is no concurrence within a node), Different nodes' ...
JRTG's user avatar
  • 2,074
1 vote

ROS2: multi nodes, each on a thread in same process

At least in Python, I was running into issues attempting the strategy you described (manually creating a thread which called spin(node) for each node), with the ...
Xilef11's user avatar
  • 56
1 vote

Multiple servers in a single node [ROS2]

The multi-thread executor and assign two service separate callback group can solve this problem
Sorawit Inprom's user avatar

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