Questions tagged [multithreading]
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41 questions
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Action server with mutually exclusive group does not work as expected [ROS2 - Python]
Context
Hello, I recently wanted to implement a ros2 node (in rclpy) that manages multiple action servers. I wanted to make sure that only one action goal can be ...
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Interaction between Python threads and ROS2
I'm trying to speed up a post-processing pipeline based on ROS and since the data is in a bag file I tried the following architecture:
A node opens the bag with ...
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ROS 2 Action Server doesn't accept new goals after completing one mission
I'm working with a custom ROS 2 Action Server that coordinates a hybrid automaton. When a goal is received, the server triggers a set of services and continuously publishes feedback until a mission-...
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CPU Multithreading in Gazebo Harmonic
I'm simulating a crawling robot in Gazebo Harmonic that consists of a main body with six same robotic arms attached. Each arm is implemented as a separate model with the same control plugins. While ...
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Race Conditions in ROS 2 Parameter Service: Security vs Performance Trade-offs
We've been investigating potential race conditions in ROS 2's parameter service on an NVIDIA Jetson Orin NX platform running ROS 2 Humble. Our findings reveal an interesting trade-off between thread ...
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Parallelization across multiple processors with ROS2 Python
Are there any recommended ways for doing full multithreaded processing (multiple cores) with ROS2 python/rclpy? The multithreaded executor is often recommended, but it seems that executor is subject ...
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Why using tf2 message filters callbacks leads to unexpected concurrency?
everybody. Our team using ROS Humble with Ubuntu 22.04. We have node that is using tf2 message filters to invoke message callbacks after needed transform has been published. The node has three ...
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ROS: Further understanding the diffrence of MultiThreadedSpinner and AsyncSpinner
I have several years of experience with robot software development using ROS, especially ROS Noetic. I want to clarify my understanding about ...
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rclcpp::AsyncParametersClient inside a timer callback
I am trying to have a parameter client set the parameters of a node in a timer callback.But unfortunately the parameters are not set during the callback the code is as follows. i also tested with a ...
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How do I determine the order of ROS messages in Python
I am using ros-noetic. I am receiving ROS messages and putting them into a python Queue which is FIFO. I suspect but I am not sure that what is happening is the subscriber callbacks are called in a ...
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ROS2 data consumer/aggregator pattern
I'm fairly new to ROS2 after having worked with ROS for a number of years.
A typical pattern we would often use was to have a ROS node subscribe to a number of inputs, and then combine and process ...
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Multiple subscriber cbs to service handler
I need to covert single incoming messages from a GUI (following the logic publish once) and in the callback invoke a service request to a device. The service request should wait for a response, which ...
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Blocking call on MoveIts CurrentStateMonitor?
I've created my own move_group_interface due to some complications with the original and the need to expose more functionality of ...
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MicroROS and Multithreading - freeRTOS vs Zephyr
I would like to get to know MicroROS. Therefore I worked with one of the recommended boards (Olimex STM32-E407) for the last weeks. And I have a few questions.
I really want to know if MicroROS is ...
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ROS2 multi-threaded executor timers block subscriber callbacks
Using RCLCPP, ROS2-Iron, Ubuntu 22.04.
Using rclcpp::executors::MultiThreadedExecutor executor
When defining callback groups, if I leave both timers and subscribers ...
