set the priority of callback to high introduces some delay compared to simple MultiThreadedExecutor
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Assessment
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Newbie friendliness
- 35/100
- Issue type
- Bug
- Clarity
- Mostly clear
- Activity status
- Stale
- Tech stack
- cpp
- Domain
- operating-systems, performance
Research direction
Start with the cbg_executor example, then compare pong_node.cpp and pong.cpp where high_busyloop is set to 1.0 and high_prio_executor uses ThreadPriority::HIGH. Reproduce the high_pong timing with both that setup and MultiThreadedExecutor, then trace the callback scheduling and thread-priority behavior to identify the source of the delay. Done means the cause is explained and the priority-based executor no longer adds the reported interval delay.
Written by the indexing model from the issue text.
Description
hi, I try to set one callback higher priority following the example cbg_executor . But It seems it introduces some delay compared to using MultiThreadedExecutor.
I publish on the topic "high_pong" at rate 100Hz. In the pong_node.cpp, I set the parameter "high_busyloop" to 1.0, and print the timestamp when receiving the msg.
Use the code in pong.cpp (setting high_prio_executor to ThreadPriority::HIGH), the output is (msg receiving interval is 1050ms):
But if I simply use MultiThreadedExecutor and add the pong node:
auto pong_node = std::make_shared<PongNode>();
rclcpp::executors::MultiThreadedExecutor multi_executor1;
multi_executor1.add_node(pong_node);
multi_executor1.spin();
rclcpp::shutdown();
return 0;
the output is (msg receiving interval is 1000ms):
- Dominant language
- C++
- Stars
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- Forks
- 365
- Avg merge
- 12d 20h
- Merged PRs (30d)
- 1
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