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…lback_isolated Add support for reentrant callback groups in ComponentManagerCallbackIsolated, matching the functionality already present in CallbackIsolatedExecutor (PR #21). - Use MultiThreadedExecutorInternal for reentrant callback groups with configurable parallelism (default 4 threads) - Use SingleThreadedExecutor for mutually exclusive callback groups - Unify ExecutorWrapper to use std::shared_ptr<rclcpp::Executor> instead of separate executor types - Update CMakeLists.txt to include multi_threaded_executor_internal.cpp and required include directories
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Pull request overview
This PR adds support for reentrant callback groups to ComponentManagerCallbackIsolated, enabling parallel execution of callbacks within the same callback group using MultiThreadedExecutorInternal.
Changes:
- Added conditional logic to use
MultiThreadedExecutorInternalfor reentrant callback groups with 4 threads of parallelism - Unified
ExecutorWrapperto use baserclcpp::Executortype instead ofSingleThreadedExecutor - Updated CMakeLists.txt to include
multi_threaded_executor_internal.cppin the build
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
| callback_isolated_executor/src/component_container_callback_isolated.cpp | Implements reentrant callback group support with multi-threaded execution and unifies executor wrapper type |
| callback_isolated_executor/CMakeLists.txt | Adds multi_threaded_executor_internal.cpp to build configuration and includes necessary directories |
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sykwer
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Jan 27, 2026
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Description
Add support for reentrant callback groups in
ComponentManagerCallbackIsolated, matching the functionality from PR #21.MultiThreadedExecutorInternalfor reentrant callback groups with configurable parallelism (default 4 threads)SingleThreadedExecutorfor mutually exclusive callback groupsExecutorWrapperto usestd::shared_ptr<rclcpp::Executor>for cleaner codeRelated links
How was this PR tested?
ReentrantNodecomponent - verified parallel execution across 4 threads (tid values differ in logs)Notes for reviewers
reentrant_parallelism_is currently hardcoded to 4 (same asCallbackIsolatedExecutor)