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Fix MultiThreadedExecutor spinning #315

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merged 2 commits into from
Jun 3, 2024
Merged

Fix MultiThreadedExecutor spinning #315

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7415404
Changed to use spin instead of spin_once to enable multithreading wit…
TakashiSato Jun 1, 2024
bfd3636
Merge branch 'master' into fix/multi_threaded_spin
ahcorde Jun 3, 2024
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9 changes: 1 addition & 8 deletions gz_ros2_control/src/gz_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,9 +73,6 @@ class GazeboSimROS2ControlPluginPrivate
/// \brief Thread where the executor will spin
std::thread thread_executor_spin_;

/// \brief Flag to stop the executor thread when this plugin is exiting
bool stop_{false};

/// \brief Executor to spin the controller
rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_;

Expand Down Expand Up @@ -238,7 +235,6 @@ GazeboSimROS2ControlPlugin::GazeboSimROS2ControlPlugin()
GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()
{
// Stop controller manager thread
this->dataPtr->stop_ = true;
this->dataPtr->executor_->remove_node(this->dataPtr->controller_manager_);
this->dataPtr->executor_->cancel();
this->dataPtr->thread_executor_spin_.join();
Expand Down Expand Up @@ -364,12 +360,9 @@ void GazeboSimROS2ControlPlugin::Configure(
this->dataPtr->node_ = rclcpp::Node::make_shared(node_name, ns);
this->dataPtr->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
this->dataPtr->executor_->add_node(this->dataPtr->node_);
this->dataPtr->stop_ = false;
auto spin = [this]()
{
while (rclcpp::ok() && !this->dataPtr->stop_) {
this->dataPtr->executor_->spin_once();
}
this->dataPtr->executor_->spin();
};
this->dataPtr->thread_executor_spin_ = std::thread(spin);

Expand Down