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Version 0.14.0
License Apache License 2.0
Build type AMENT_CMAKE

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VCS Type git
VCS Version master
Last Updated 2022-01-14
CI status No Continuous Integration
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Package Description

Example of how to use the rclcpp::WaitSet directly.

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  • William Woodall


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Minimal rclcpp wait-set cookbook recipes

This package contains a few different strategies for creating nodes which use rclcpp::waitset to wait and handle ROS entities, that is, subscribers, timers, clients, services, guard conditions and waitables.

  • wait_set.cpp: Simple example showing how to use the default wait-set with a dynamic storage policy and a sequential (no thread-safe) synchronization policy.
  • static_wait_set.cpp: Simple example showing how to use the static wait-set with a static storage policy.
  • thread_safe_wait_set.cpp: Simple example showing how to use the thread-safe wait-set with a thread-safe synchronization policy.
  • wait_set_topics_and_timer.cpp: Simple example using multiple subscriptions, publishers, and a timer.
  • wait_set_random_order.cpp: An example showing user-defined data handling and a random publisher. executor_random_order.cpp run the same node logic using SingleThreadedExecutor to compare the data handling order.
  • wait_set_and_executor_composition.cpp: An example showing how to combine a
    SingleThreadedExecutor and a wait-set.
  • wait_set_topics_with_different_rate.cpp: An example showing how to use a custom trigger condition to handle topics with different topic rates.

Changelog for package examples_rclcpp_wait_set

0.14.0 (2022-01-14)

0.13.0 (2021-10-18)

0.12.0 (2021-08-05)

  • Add wait set examples (#315)
  • Contributors: carlossvg

Wiki Tutorials

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