Merge pull request #15 from fmrico/events_executor

Change to EventsExecutor

.github/workflows/jazzy-devel.yaml

@@ -3,10 +3,10 @@ name: jazzy-devel
 on:
   pull_request:
     branches:
-      - jazzy
+      - jazzy-devel
   push:
     branches:
-      - jazzy
+      - jazzy-devel
   workflow_dispatch:
     schedule:
       - cron: '0 0 * * 0'
@@ -20,11 +20,11 @@ jobs:
       fail-fast: false
     steps:
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].1
+        uses: ros-tooling/[email protected].9
         with:
           required-ros-distributions: jazzy
       - name: build and test
-        uses: ros-tooling/[email protected].6
+        uses: ros-tooling/[email protected].13
         with:
           package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs
           target-ros2-distro: jazzy

.github/workflows/rolling.yaml

@@ -20,11 +20,11 @@ jobs:
       fail-fast: false
     steps:
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].1
+        uses: ros-tooling/[email protected].9
         with:
           required-ros-distributions: rolling
       - name: build and test
-        uses: ros-tooling/[email protected].6
+        uses: ros-tooling/[email protected].13
         with:
           package-name: rclcpp_cascade_lifecycle rclpy_cascade_lifecycle cascade_lifecycle_msgs
           target-ros2-distro: rolling

README.md

@@ -28,7 +28,7 @@ Using `rclcpp_cascade_lifecycle` in the next example, `node_b` makes the same st
 auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
 auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
 
-rclcpp::executors::SingleThreadedExecutor executor;
+rclcpp::experimental::executors::EventsExecutor executor;
 executor.add_node(node_a->get_node_base_interface());
 executor.add_node(node_b->get_node_base_interface());
 

rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test.cpp

@@ -74,7 +74,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_basic)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -104,7 +104,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_late_joining)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -164,7 +164,7 @@ TEST(rclcpp_cascade_lifecycle, activations_chained)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -265,7 +265,7 @@ TEST(rclcpp_cascade_lifecycle, multiple_activations_chained)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -447,7 +447,7 @@ TEST(rclcpp_cascade_lifecycle, fast_change)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -489,7 +489,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A");
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -549,7 +549,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_inter)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B");
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -901,7 +901,7 @@ TEST(rclcpp_cascade_lifecycle, inheritance)
   auto node_1 = std::make_shared<TestNode>("node_1");
   auto node_2 = std::make_shared<TestNode>("node_2");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_1->get_node_base_interface());
   executor.add_node(node_2->get_node_base_interface());
 
@@ -967,7 +967,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_basic_with_namespace)
     "node_C",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1001,7 +1001,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_late_joining_with_namespace)
     "node_B",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1069,7 +1069,7 @@ TEST(rclcpp_cascade_lifecycle, activations_chained_with_namespace)
     "node_B",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1176,7 +1176,7 @@ TEST(rclcpp_cascade_lifecycle, multiple_activations_chained_with_namespace)
     "node_C",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1362,7 +1362,7 @@ TEST(rclcpp_cascade_lifecycle, fast_change_with_namespace)
     "node_B",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1408,7 +1408,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_with_namespace)
     "node_B",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1474,7 +1474,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_inter_with_namespace)
     "node_C",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1830,7 +1830,7 @@ TEST(rclcpp_cascade_lifecycle, inheritance_with_namespace)
     "node_2",
     "test_ns");
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_1->get_node_base_interface());
   executor.add_node(node_2->get_node_base_interface());
 

rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp

@@ -79,7 +79,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_basic)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -113,7 +113,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A", options);
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -177,7 +177,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_chained)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A", options);
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -282,7 +282,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, multiple_activations_chained)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -468,7 +468,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, fast_change)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A", options);
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -514,7 +514,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance)
   auto node_a = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_A", options);
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -578,7 +578,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_inter)
   auto node_b = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_B", options);
   auto node_c = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>("node_C", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -934,7 +934,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, inheritance)
   auto node_1 = std::make_shared<TestNode>("node_1", "", options);
   auto node_2 = std::make_shared<TestNode>("node_2", "", options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_1->get_node_base_interface());
   executor.add_node(node_2->get_node_base_interface());
 
@@ -1007,7 +1007,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_basic_with_nam
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1047,7 +1047,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining_w
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1122,7 +1122,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_chained_with_namespace)
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1236,7 +1236,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, multiple_activations_chained_with_n
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1428,7 +1428,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, fast_change_with_namespace)
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1480,7 +1480,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_with_names
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
 
@@ -1553,7 +1553,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_inter_with
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_a->get_node_base_interface());
   executor.add_node(node_b->get_node_base_interface());
   executor.add_node(node_c->get_node_base_interface());
@@ -1915,7 +1915,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, inheritance_with_namespace)
     "test_ns",
     options);
 
-  rclcpp::executors::SingleThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node_1->get_node_base_interface());
   executor.add_node(node_2->get_node_base_interface());