feat(cie_thread_configurator): spawn_cie_thread for non-ros2 thread #22
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…lated rclcpp context Remove node dependency from spawn_cie_thread function and create an isolated rclcpp context within each spawned thread. This change allows threads to be spawned without requiring the caller to manage ROS node dependencies, while maintaining callback group registration capabilities through autonomous context initialization and shutdown. The implementation: - Initializes a dedicated rclcpp Context with auto logging disabled - Creates a temporary node for publishing callback group information - Properly shuts down the context after publishing - Executes the user-provided function with forwarded arguments - Simplifies the API by removing node parameter requirements Update sample application to demonstrate usage with a non-ROS worker thread that leverages the simplified spawn_cie_thread API.
atsushi421
changed the title
There was a problem hiding this comment.
Pull request overview
This PR introduces a new spawn_cie_thread function that enables thread scheduling management for non-ROS2 worker threads by automatically creating an isolated rclcpp context within each spawned thread, eliminating the need for callers to provide a ROS node.
Key Changes:
- Added templated
spawn_cie_threadfunction to spawn threads with automatic CIE thread configurator integration - Created sample non-ROS process demonstrating standalone thread spawning
- Integrated
spawn_cie_threadinto existing sample node to demonstrate usage within ROS2 components
Reviewed changes
Copilot reviewed 6 out of 6 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| cie_thread_configurator/include/cie_thread_configurator/cie_thread_configurator.hpp | Adds spawn_cie_thread template function with isolated rclcpp context creation |
| cie_sample_application/src/sample_non_ros_process.cpp | New sample demonstrating standalone non-ROS thread spawning |
| cie_sample_application/src/sample_node.cpp | Integrates spawn_cie_thread to spawn a non-ROS worker thread within the node |
| cie_sample_application/include/cie_sample_application/sample_node.hpp | Adds destructor and non-ROS thread member to SampleNode class |
| cie_sample_application/package.xml | Adds cie_thread_configurator dependency |
| cie_sample_application/CMakeLists.txt | Updates build configuration for cie_thread_configurator dependency and new executable |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
cie_thread_configurator/include/cie_thread_configurator/cie_thread_configurator.hpp
Outdated
Show resolved
Hide resolved
cie_thread_configurator/include/cie_thread_configurator/cie_thread_configurator.hpp
Show resolved
Hide resolved
There was a problem hiding this comment.
Pull request overview
Copilot reviewed 13 out of 13 changed files in this pull request and generated 2 comments.
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
cie_thread_configurator/include/cie_thread_configurator/cie_thread_configurator.hpp
Show resolved
Hide resolved
Member
|
better? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR adds a new
spawn_cie_threadfunction that enables thread scheduling management for non-ROS2 worker threads. The function automatically creates an isolated rclcpp context within each spawned thread, allowing threads to publish their information to the CIE thread configurator without requiring the caller to provide a ROS node.Key Changes
NonRosThreadInfo.msgto distinguish non-ROS worker threads from ROS callback groupsThreadConfigfor both ROS callback groups and non-ROS threadsnon_ros_threadssection alongsidecallback_groupsRelated links
How was this PR tested?
Notes for reviewers