Repository navigation
[BUG]: MultiThreadedExecutor in the driver where a single-threaded one would do #31
Description
Issue Description
main() in waterlinked_dvl_driver.cpp uses MultiThreadedExecutor, but as written it does not seem to do anything over a single-threaded one. More of a simplification than a bug?
- All the node callbacks are created without a callback group (L232-L284), so they share the node's default mutually-exclusive group. A
MultiThreadedExecutorwill not run them concurrently anyway. - By default all
LifecycleNodecallbacks are registered under the default callback group too.
So I believe a SingleThreadedExecutor would behave the same here and possibly provide some performance gains over a MultiThreadedExecutor.
Steps to Reproduce
N/A
Expected Behavior
Either use SingleThreadedExecutor since it is equivalent here, or, if concurrent in-flight commands were intended, set up reentrant or separate callback groups so the multithreading actually does something.
Error Message
Runtime Environment
Not environment specific
Additional Context
No response
Activity