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[documentation] Explain when MultiThreadedExecutor is running multiple threads #2454

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[documentation] Explain when MultiThreadedExecutor is running multiple threads #2454

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dfee9e3
add class docstring for MultiThreadedExecutor
Cakem1x Mar 19, 2024
e0ce923
Revert "add class docstring for MultiThreadedExecutor"
Cakem1x Mar 28, 2024
f7d44d9
expand documentation for MultiThreadedExecutor's spin method
Cakem1x Mar 28, 2024
d91e9f4
add to docs a note about parallel processing support of spin_until_fu…
Cakem1x Mar 28, 2024
17929ce
change docs to express what is possible instead of what is not
Cakem1x Apr 5, 2024
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1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/executor.hpp
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Expand Up @@ -347,6 +347,7 @@ class Executor

/// Spin (blocking) until the future is complete, it times out waiting, or rclcpp is interrupted.
/**
* The implementation is suitable for a single-thread model of execution.
* \param[in] future The future to wait on. If this function returns SUCCESS, the future can be
* accessed without blocking (though it may still throw an exception).
* \param[in] timeout Optional timeout parameter, which gets passed to Executor::spin_node_once.
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6 changes: 5 additions & 1 deletion rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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Expand Up @@ -61,8 +61,12 @@ class MultiThreadedExecutor : public rclcpp::Executor
RCLCPP_PUBLIC
virtual ~MultiThreadedExecutor();

/// Multi-threaded implementation of spin.
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Multi-thread 😸

/**
* \sa rclcpp::Executor:spin() for more details
* This function will block until work comes in, and try to execute all work with
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This is not correct.
This function won't block until works come in, but rather it will block until interrupted.

* configured multiple threads, and then repeat the process until canceled.
* It may be interrupted by a call to rclcpp::Executor::cancel() or by ctrl-c
* if the associated context is configured to shutdown on SIGINT.
* \throws std::runtime_error when spin() called while already spinning
*/
RCLCPP_PUBLIC
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