Merge pull request #2 from enwaytech/bc/switch_eventsexecutor

Switch to more performant EventsExecutor

Author: bochen87

behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

@@ -178,7 +178,7 @@ class RosActionNode : public BT::ActionNodeBase
 
     ActionClientPtr action_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
-    rclcpp::executors::SingleThreadedExecutor callback_executor;
+    rclcpp::experimental::executors::EventsExecutor callback_executor;
     typename ActionClient::SendGoalOptions goal_options;
   };
 

behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp

@@ -147,7 +147,7 @@ class RosServiceNode : public BT::ActionNodeBase
 
     ServiceClientPtr service_client;
     rclcpp::CallbackGroup::SharedPtr callback_group;
-    rclcpp::executors::SingleThreadedExecutor callback_executor;
+    rclcpp::experimental::executors::EventsExecutor callback_executor;
   };
 
   static std::mutex& getMutex()

behaviortree_ros2/include/behaviortree_ros2/bt_service_server_node.hpp

@@ -108,7 +108,7 @@ class RosServiceServerNode : public BT::ConditionNode
 private:
   ServicePtr service_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;
-  rclcpp::executors::SingleThreadedExecutor callback_executor_;
+  rclcpp::experimental::executors::EventsExecutor callback_executor_;
 
   bool createService(const std::string& service_name);
 };

behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp

@@ -55,7 +55,7 @@ class RosTopicSubNode : public BT::ConditionNode
 
     std::shared_ptr<Subscriber> subscriber;
     rclcpp::CallbackGroup::SharedPtr callback_group;
-    rclcpp::executors::SingleThreadedExecutor callback_group_executor;
+    rclcpp::experimental::executors::EventsExecutor callback_group_executor;
     boost::signals2::signal<void(const std::shared_ptr<TopicT>)> broadcaster;
     std::shared_ptr<TopicT> last_msg;
   };