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rclpy中有SingleThreadedExecutor和MultiThreadedExecutor两种类型的executor,rclcpp还包含StaticSingleThreadedExecutor。SingleThreadedExecutor使用一个线程排队处理多个消息。MultiThreadedExecutor可创建多个线程(可配置)以并行处理多个消息。
一个节点配一个执行器,可以允许多个回调组
1、创建节点
rclcpp::Node::SharedPtr srv_node_ = std::make_shared<rclcpp::Node>("srv");
2、创建执行器
类中创建
rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_ ; // 多线程执行器
executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
executor_->add_node(nodePtr_);
或者
main函数创建
auto exec_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::executor::create_default_executor_arguments(), 5);
exec_->add_node(nodePtr);
exec_->spin();
exec_->remove_node(nodePtr);
3、创建分组
// MutuallyExclusive;互斥,即这个组别中每时刻只允许1个线程,一个callback在执行时,其他只能等待
// Reentrant;可重入,这个组别中每时刻允许多个线程,一个Callback在执行时,其他callback可开启新的线程
rclcpp::CallbackGroup::SharedPtr callBackGroup_;//不能写在构造中,否则请求不到服务
callBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程)
rclcpp::CallbackGroup::SharedPtr srvCallBackGroup_;
srvCallBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程)
rclcpp::SubscriptionOptions options;
options.callback_group = callBackGroup_;
//用于订阅 options
//用于服务 srvCallBackGroup_
eg.1
#include <rclcpp/rclcpp.hpp> #include <std_msgs/msg/int8.hpp> #include <chrono> #include <functional> #include <memory> #include <string> #include "std_msgs/msg/string.hpp" #include "msg_srv/srv/test.hpp" #include "msg_srv/msg/test.hpp" using namespace std::chrono_literals; using std::placeholders::_1; using std::placeholders::_1; class MinimalNode { private: rclcpp::Node::SharedPtr nodePtr_; rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_,subscription1_,subscription2_; rclcpp::Service<msg_srv::srv::Test>::SharedPtr Srv1_,Srv2_; rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_ ; // 多线程执行器 rclcpp::CallbackGroup::SharedPtr callBackGroup_;//不能写在构造中,否则请求不到服务 rclcpp::CallbackGroup::SharedPtr srvCallBackGroup_;//不能写在构造中,否则请求不到服务 public: MinimalNode(rclcpp::Node::SharedPtr& nodePtr):nodePtr_(nodePtr) { // 一个节点配一个执行器,可以允许多个回调组 //法一,在main中创建执行器 // // main中写入 // // auto exec_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::executor::create_default_executor_arguments(), 5); // // exec_->add_node(nodePtr); // // exec_->spin(); // rclcpp::CallbackGroup::SharedPtr callBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::CallbackGroup::SharedPtr srvCallBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::SubscriptionOptions options; // options.callback_group = callBackGroup_; // subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalNode::topic_callback, this, _1),options); // subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic1", 10, std::bind(&MinimalNode::topic_callback1, this, _1),options); // subscription2_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic2", 10, std::bind(&MinimalNode::topic_callback2, this, _1),options); // Srv1_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv1", std::bind(&MinimalNode::srv_callback1, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); // Srv2_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv2", std::bind(&MinimalNode::srv_callback2, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); //法二,在类中创建执行器,但是在类中需要创建线程堵塞回调线程 // // rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_ ; // 多线程执行器 // // executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(); // // executor_->add_node(nodePtr_); // rclcpp::CallbackGroup::SharedPtr callBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::CallbackGroup::SharedPtr srvCallBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::SubscriptionOptions options; // options.callback_group = callBackGroup_; // subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalNode::topic_callback, this, _1),options); // subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic1", 10, std::bind(&MinimalNode::topic_callback1, this, _1),options); // subscription2_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic2", 10, std::bind(&MinimalNode::topic_callback2, this, _1),options); // Srv1_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv1", std::bind(&MinimalNode::srv_callback1, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); // Srv2_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv2", std::bind(&MinimalNode::srv_callback2, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); // void run() // { // RCLCPP_INFO(nodePtr_->get_logger(), "111111111"); // executor_->spin(); // } // //法三,在类中创建另外的节点,并且创建另外的执行器,在类中需要创建线程堵塞回调线程 // srv_node_ = std::make_shared<rclcpp::Node>("srv"); // rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_ ; // 多线程执行器 // rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_srv_ ; // 多线程执行器 // executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(); // executor_srv_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(); // executor_->add_node(nodePtr_); // executor_srv_->add_node(srv_node_);//添加节点 // rclcpp::CallbackGroup::SharedPtr callBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::CallbackGroup::SharedPtr srvCallBackGroup_ = srv_node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // rclcpp::SubscriptionOptions options; // options.callback_group = callBackGroup_; // subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalNode::topic_callback, this, _1),options); // subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic1", 10, std::bind(&MinimalNode::topic_callback1, this, _1),options); // subscription2_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic2", 10, std::bind(&MinimalNode::topic_callback2, this, _1),options); // Srv1_ = srv_node_->create_service<msg_srv::srv::Test>("Srv1", std::bind(&MinimalNode::srv_callback1, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); // Srv2_ = srv_node_->create_service<msg_srv::srv::Test>("Srv2", std::bind(&MinimalNode::srv_callback2, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); // void run() // { // RCLCPP_INFO(nodePtr_->get_logger(), "111111111"); // std::thread{[&]{executor_srv_->spin();}}.detach();//堵塞线程 // executor_->spin(); // } //eg.1 双节点 // callBackGroup_ = nodePtr_->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(); // executor_->add_node(nodePtr_); // rclcpp::SubscriptionOptions options; // options.callback_group = callBackGroup_; // srv_node_ = std::make_shared<rclcpp::Node>("srv"); // srvCallBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) // srvCallBackExecutor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::ExecutorOptions(), 2); // srvCallBackExecutor_->add_node(srv_node_); //一个节点,并且在main函数中生成执行器,两个回调分组 callBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) srvCallBackGroup_ = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);//重入(Reentrant:每时刻允许多个线程) 互斥(MutuallyExclusive:每时刻只允许1个线程) rclcpp::SubscriptionOptions options; options.callback_group = callBackGroup_; subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalNode::topic_callback, this, _1),options); subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic1", 10, std::bind(&MinimalNode::topic_callback1, this, _1),options); subscription2_ = nodePtr_->create_subscription<std_msgs::msg::String>("topic2", 10, std::bind(&MinimalNode::topic_callback2, this, _1),options); Srv1_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv1", std::bind(&MinimalNode::srv_callback1, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); Srv2_ = nodePtr_->create_service<msg_srv::srv::Test>("Srv2", std::bind(&MinimalNode::srv_callback2, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, srvCallBackGroup_); } void topic_callback(const std_msgs::msg::String::SharedPtr msg) const {RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());} void topic_callback1(const std_msgs::msg::String::SharedPtr msg) const {RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());} void topic_callback2(const std_msgs::msg::String::SharedPtr msg) const {RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());} bool srv_callback1(const std::shared_ptr<msg_srv::srv::Test::Request> req, std::shared_ptr<msg_srv::srv::Test::Response> res) const { std::vector<int> num(req->goal_ids); std::string id = req->id; res->success = false; RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s' call success!!!", req->id.c_str()); return false; } bool srv_callback2(const std::shared_ptr<msg_srv::srv::Test::Request> req, std::shared_ptr<msg_srv::srv::Test::Response> res) const { std::vector<int> num(req->goal_ids); std::string id = req->id; res->success = false; RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s' call success!!!", req->id.c_str()); return false; } void run() { RCLCPP_INFO(nodePtr_->get_logger(), "111111111"); // std::thread{[&]{srvCallBackExecutor_->spin();}}.detach(); // executor_->spin(); } }; int main(int argc, char** argv) { rclcpp::init(argc, argv); auto nodePtr = rclcpp::Node::make_shared("mpac_points_filter"); auto heartBeatPubPtr = nodePtr->create_publisher<std_msgs::msg::Int8>("heartBeat", 10); std_msgs::msg::Int8 heartBeatData; heartBeatData.data = 6; //6-filter node auto heartBeatTimer = nodePtr->create_wall_timer(std::chrono::seconds(1), [heartBeatPubPtr, heartBeatData]() { heartBeatPubPtr->publish(heartBeatData); }); RCLCPP_INFO(nodePtr->get_logger(), "start"); MinimalNode vcq(nodePtr); vcq.run(); auto exec_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(rclcpp::executor::create_default_executor_arguments(), 5); exec_->add_node(nodePtr); exec_->spin(); exec_->remove_node(nodePtr); RCLCPP_INFO(nodePtr->get_logger(), "end"); rclcpp::shutdown(); return 0; }
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