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Create a new MutuallyExclusive callback group for every timer, use a multithreaded executor #40

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Jul 18, 2023
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Create a new MutuallyExclusive callback group for every timer, use a multithreaded executor #40

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5 changes: 5 additions & 0 deletions ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -348,6 +348,11 @@ class AirsimROSWrapper
rclcpp::TimerBase::SharedPtr airsim_control_update_timer_;
rclcpp::TimerBase::SharedPtr airsim_lidar_update_timer_;

/// Callback groups
std::vector<rclcpp::CallbackGroup::SharedPtr> airsim_img_callback_groups_;
rclcpp::CallbackGroup::SharedPtr airsim_control_callback_group_;
std::vector<rclcpp::CallbackGroup::SharedPtr> airsim_lidar_callback_groups_;

typedef std::pair<std::vector<ImageRequest>, std::string> airsim_img_request_vehicle_name_pair;
std::vector<airsim_img_request_vehicle_name_pair> airsim_img_request_vehicle_name_pair_vec_;
std::vector<image_transport::Publisher> image_pub_vec_;
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30 changes: 7 additions & 23 deletions ros2/src/airsim_ros_pkgs/src/airsim_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,35 +1,19 @@
#include <rclcpp/rclcpp.hpp>
#include "airsim_ros_wrapper.h"

int main(int argc, char** argv)
{
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::NodeOptions node_options;
node_options.automatically_declare_parameters_from_overrides(true);
std::shared_ptr<rclcpp::Node> nh = rclcpp::Node::make_shared("airsim_node", node_options);
std::shared_ptr<rclcpp::Node> nh_img = nh->create_sub_node("img");
std::shared_ptr<rclcpp::Node> nh_lidar = nh->create_sub_node("lidar");
std::shared_ptr <rclcpp::Node> nh = rclcpp::Node::make_shared("airsim_node", node_options);
std::shared_ptr <rclcpp::Node> nh_img = nh->create_sub_node("img");
std::shared_ptr <rclcpp::Node> nh_lidar = nh->create_sub_node("lidar");
std::string host_ip;
nh->get_parameter("host_ip", host_ip);
AirsimROSWrapper airsim_ros_wrapper(nh, nh_img, nh_lidar, host_ip);

if (airsim_ros_wrapper.is_used_img_timer_cb_queue_) {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_img);
while (rclcpp::ok()) {
executor.spin();
}
}

if (airsim_ros_wrapper.is_used_lidar_timer_cb_queue_) {
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(nh_lidar);
while (rclcpp::ok()) {
executor.spin();
}
}

rclcpp::spin(nh);
rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(nh);
executor.spin();

return 0;
}
12 changes: 8 additions & 4 deletions ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp
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Expand Up @@ -109,7 +109,8 @@ void AirsimROSWrapper::initialize_ros()

nh_->declare_parameter("vehicle_name", rclcpp::ParameterValue(""));
create_ros_pubs_from_settings_json();
airsim_control_update_timer_ = nh_->create_wall_timer(std::chrono::duration<double>(update_airsim_control_every_n_sec), std::bind(&AirsimROSWrapper::drone_state_timer_cb, this));
airsim_control_callback_group_ = nh_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
airsim_control_update_timer_ = nh_->create_wall_timer(std::chrono::duration<double>(update_airsim_control_every_n_sec), std::bind(&AirsimROSWrapper::drone_state_timer_cb, this), airsim_control_callback_group_);
}

void AirsimROSWrapper::create_ros_pubs_from_settings_json()
Expand Down Expand Up @@ -309,16 +310,19 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
if (!airsim_img_request_vehicle_name_pair_vec_.empty()) {
double update_airsim_img_response_every_n_sec;
nh_->get_parameter("update_airsim_img_response_every_n_sec", update_airsim_img_response_every_n_sec);

airsim_img_response_timer_ = nh_img_->create_wall_timer(std::chrono::duration<double>(update_airsim_img_response_every_n_sec), std::bind(&AirsimROSWrapper::img_response_timer_cb, this));
auto cb = nh_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
airsim_img_callback_groups_.push_back(cb);
airsim_img_response_timer_ = nh_img_->create_wall_timer(std::chrono::duration<double>(update_airsim_img_response_every_n_sec), std::bind(&AirsimROSWrapper::img_response_timer_cb, this), cb);
is_used_img_timer_cb_queue_ = true;
}

// lidars update on their own callback/thread at a given rate
if (lidar_cnt > 0) {
double update_lidar_every_n_sec;
nh_->get_parameter("update_lidar_every_n_sec", update_lidar_every_n_sec);
airsim_lidar_update_timer_ = nh_lidar_->create_wall_timer(std::chrono::duration<double>(update_lidar_every_n_sec), std::bind(&AirsimROSWrapper::lidar_timer_cb, this));
auto cb = nh_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
airsim_lidar_callback_groups_.push_back(cb);
airsim_lidar_update_timer_ = nh_lidar_->create_wall_timer(std::chrono::duration<double>(update_lidar_every_n_sec), std::bind(&AirsimROSWrapper::lidar_timer_cb, this), cb);
is_used_lidar_timer_cb_queue_ = true;
}

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