component_container_callback_isolated

A component container that assigns a dedicated thread for each callback group.

Build and Install

component_container_calblack_isolated depends on https://github.com/sykwer/ros2_thread_configurator.

$ mkdir -p /path/to/ros2_thread_configurator_ws
$ cd /path/to/ros2_thread_configurator_ws
$ git clone https://github.com/sykwer/ros2_thread_configurator.git src/
$ source /opt/ros/humble/setup.bash
$ colcon build

After ros2_thread_configurator is installed, we can build component_container_callback_isolated.

$ mkdir -p /path/to/component_container_callback_isolated_ws
$ cd /path/to/component_container_callback_isolated_ws
$ git clone https://github.com/sykwer/component_container_callback_isolated.git src/
$ source /path/to/ros2_thread_configurator_ws/install/setup.bash
$ colcon build
$ source install/setup.bash

How to Use

Refer to the launch directory.

Quick Demo

Demonstration of launching the component container and loading the sample node at the same time.

$ ros2 launch rclcpp_component_container_callback_isolated sample_node.launch.xml

Demonstration of loading the sample node into the pre-launched component container afterwards.

$ ros2 run rclcpp_component_container_callback_isolated component_container_callback_isolated --ros-args --remap __node:=sample_container
$ ros2 launch rclcpp_component_container_callback_isolated load_sample_node.launch.xml