Package Summary

Tags No category tags.
Version 0.12.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros2/examples.git
VCS Type git
VCS Version master
Last Updated 2021-10-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

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

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Maintainers

  • William Woodall

Authors

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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

Changelog for package examples_rclcpp_wait_set

0.12.0 (2021-08-05)

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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