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Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp #3139

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Merged
merged 6 commits into from
Nov 29, 2024
Merged

Address deprecations of StaticSingleThreadedExecutor and realtime_tools/thread_priority.hpp #3139

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3c88f3d
Switch StaticSingleThreadedExecutor to SingleThreadedExecutor
sea-bass Nov 29, 2024
f381868
Update realtime_tools header in servo node too
sea-bass Nov 29, 2024
556fc8e
Conditional include
sea-bass Nov 29, 2024
e350b8e
Update moveit_ros/moveit_servo/src/servo_node.cpp
sea-bass Nov 29, 2024
b23a58c
Update moveit_ros/moveit_servo/src/servo_node.cpp
sea-bass Nov 29, 2024
ef0c815
Merge branch 'main' into remove-static-single-threaded-executor
mikeferguson Nov 29, 2024
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7 changes: 6 additions & 1 deletion moveit_ros/moveit_servo/src/servo_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,14 @@
*
*/

#include <moveit_servo/servo_node.hpp>
#if __has_include(<urdf/realtime_tools/realtime_helpers.hpp.hpp>)
#include <realtime_tools/realtime_helpers.hpp>
#else
#include <realtime_tools/thread_priority.hpp>
#endif

#include <moveit/utils/logger.hpp>
#include <moveit_servo/servo_node.hpp>

namespace moveit_servo
{
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4 changes: 2 additions & 2 deletions moveit_ros/warehouse/src/broadcast.cpp
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Expand Up @@ -42,7 +42,7 @@
#include <boost/program_options/options_description.hpp>
#include <boost/program_options/parsers.hpp>
#include <boost/program_options/variables_map.hpp>
#include <rclcpp/executors/static_single_threaded_executor.hpp>
#include <rclcpp/executors/single_threaded_executor.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
Expand Down Expand Up @@ -118,7 +118,7 @@ int main(int argc, char** argv)
if (!conn->connect())
return 1;

rclcpp::executors::StaticSingleThreadedExecutor executor;
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(node);

rclcpp::Rate rate(static_cast<int64_t>(delay) * 1000ms);
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