feat: parameterize MultiThreadedExecutorInternal configuration#30
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atsushi421 merged 3 commits intomainfrom Apr 2, 2026
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Allow users to configure reentrant_parallelism, yield_before_execute, and next_exec_timeout parameters when using MultiThreadedExecutorInternal for reentrant callback groups. - CallbackIsolatedExecutor: accept parameters via constructor arguments - ComponentManagerCallbackIsolated: accept parameters via ROS parameters (reentrant_parallelism, yield_before_execute, next_exec_timeout_ns) - Update sample application to demonstrate parameter usage
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Pull request overview
This PR parameterizes the MultiThreadedExecutorInternal configuration by allowing users to configure reentrant_parallelism, yield_before_execute, and next_exec_timeout parameters for reentrant callback groups.
Changes:
- Added constructor parameters to
CallbackIsolatedExecutorfor configuring reentrant executor behavior - Added ROS parameters to
ComponentManagerCallbackIsolatedfor runtime configuration - Updated
MultiThreadedExecutorInternalconstructor to accept configuration parameters instead of hardcoded values
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 2 comments.
Show a summary per file
| File | Description |
|---|---|
callback_isolated_executor/include/callback_isolated_executor/callback_isolated_executor.hpp |
Added constructor parameters and member variables for reentrant executor configuration |
callback_isolated_executor/src/callback_isolated_executor.cpp |
Updated constructor and reentrant callback group spinning to use configurable parameters |
callback_isolated_executor/include/callback_isolated_executor/multi_threaded_executor_internal.hpp |
Replaced hardcoded values with constructor parameters |
callback_isolated_executor/src/component_container_callback_isolated.cpp |
Added ROS parameter declarations and usage for runtime configuration |
cie_sample_application/src/reentrant_node_main.cpp |
Updated example to use new parameterized constructor |
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- Add default member initializers to CallbackIsolatedExecutor - Validate reentrant_parallelism parameter is non-negative before casting
sykwer
approved these changes
Feb 26, 2026
atsushi421
deleted the
feat/parameterize-multi-threaded-executor-internal
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Description
Allow users to configure
reentrant_parallelism,yield_before_execute, andnext_exec_timeoutparameters forMultiThreadedExecutorInternalused in reentrant callback groups.CallbackIsolatedExecutor: parameters configurable via constructor argumentsComponentManagerCallbackIsolated: parameters configurable via ROS parameters (reentrant_parallelism,yield_before_execute,next_exec_timeout_ns)Related links
N/A
How was this PR tested?
reentrant_node_mainruns correctly with parameterized executorNotes for reviewers
N/A