Class RealTimeExecutor

• Defined in File RealTimeExecutor.hpp

Inheritance Relationships

Base Type

• public rclcpp::executors::SingleThreadedExecutor

Class Documentation

class RealTimeExecutor : public rclcpp::executors::SingleThreadedExecutor

Realtime implementation of rclcpp::Executor.

Use POSIX(pthread) to run each tasks (timers/subscriptions/services) in its own thread. This executor can handle corail RealTimeNode as well as rclcpp Node.

Public Functions

inline RealTimeExecutor(const std::string &name, std::chrono::nanoseconds release = std::chrono::seconds(1), std::chrono::nanoseconds timeout = std::chrono::seconds(1), const rclcpp::ExecutorOptions &options = rclcpp::ExecutorOptions())

Construct a new Real-Time Executor.

See also

rclcpp::ExecutorOptions

Parameters

• name – The name of the executor.

• release – Realease date of all the tasks.

• timeout –

• options –

void add_rt_node(std::shared_ptr<RealTimeNode> node)

Add a corail node to the executor.

Parameters

node – The node to add.

void spin() override

Corail is free software: you can redistribute it and/or modify it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.