Class SingleThreadedAgnocastExecutor

• Defined in File agnocast_single_threaded_executor.hpp

Inheritance Relationships

Base Type

• public agnocast::AgnocastExecutor (Class AgnocastExecutor)

Class Documentation

class SingleThreadedAgnocastExecutor : public agnocast::AgnocastExecutor

Single-threaded executor for Stage 1 that processes both ROS 2 and Agnocast callbacks on one thread.

Public Functions

explicit AGNOCAST_PUBLIC SingleThreadedAgnocastExecutor(const rclcpp::ExecutorOptions &options = rclcpp::ExecutorOptions(), int next_exec_timeout_ms = 50)

Construct the executor.

Parameters:

• options – Executor options.

• next_exec_timeout_ms – Timeout in ms for waiting on the next executable.

virtual AGNOCAST_PUBLIC void spin () override

Block the calling thread and process callbacks in a loop until rclcpp::shutdown() is called or the executor is cancelled.

void dedicate_to_callback_group(const rclcpp::CallbackGroup::SharedPtr &group, const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr &node)