Merge pull request #16 from fmrico/jazzy_events_executor

Jazzy events executor

.github/workflows/jazzy-devel.yaml

@@ -1,12 +1,12 @@
-name: jazzy
+name: jazzy-devel
 
 on:
   pull_request:
     branches:
-      - jazzy
+      - jazzy-devel
   push:
     branches:
-      - jazzy
+      - jazzy-devel
   workflow_dispatch:
     schedule:
       - cron: '0 0 * * 0'
@@ -16,7 +16,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
       - name: Setup ROS 2
@@ -26,8 +26,14 @@ jobs:
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.3.6
         with:
-          package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
+          package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs
           target-ros2-distro: jazzy
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
           vcs-repo-file-url: ""
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

.github/workflows/rolling-devel.yaml

@@ -26,7 +26,7 @@ jobs:
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.3.6
         with:
-          package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
+          package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs
           target-ros2-distro: rolling
           vcs-repo-file-url: ""
           colcon-mixin-name: coverage-gcc

.github/workflows/rolling.yaml

@@ -16,18 +16,24 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
       - name: Setup ROS 2
-        uses: ros-tooling/setup-ros@0.7.1
+        uses: ros-tooling/setup-ros@0.7.9
         with:
           required-ros-distributions: rolling
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.3.6
+        uses: ros-tooling/action-ros-ci@0.3.13
         with:
-          package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs
+          package-name: rclcpp_cascade_lifecycle rclpy_cascade_lifecycle cascade_lifecycle_msgs
           target-ros2-distro: rolling
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
           vcs-repo-file-url: ""
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

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());