Why does Trajectory Execution Manager use MultiThreadedExecutor?

[CihatAltiparmak]

Description

While trying to integrate rmw_zenoh to MoveIt, i have seen that MoveGroup server uses MultiThreadedExecutor. rmw_zenoh doesn't work at the moment because of MultiThreadedExecutor. My aim here is not to report a bug, but to start a discussion about whether it's really necessary to use MultiThreadedExecutor here.

https://github.com/moveit/moveit2/blob/94796046b5ae6fc2a8e5f5ee73db4944d71a5643/moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp#L193-L201

https://github.com/moveit/moveit2/blob/94796046b5ae6fc2a8e5f5ee73db4944d71a5643/moveit_ros/move_group/src/move_group.cpp#L312-L327

Your environment

• ROS Distro: Rolling
• OS Version: Ubuntu 22.04
• Build Type: Source
• main
• rmw_zenoh

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.