Nr of threads for multithreaded executor

JRTG · March 5, 2023, 7:34pm

Hello,

In chapter 5.6 it states:

This is because the Multi-Threaded Executor starts ONE THREAD PER NODE ADDED

This is incorrect: by default it starts as many threads as the nr. of hardware threads that are supported, with a minimum of two.

See the corresponding code in multi_threaded_executor.cpp:

github.com

ros2/rclcpp/blob/1a9b117d5357f4d37ecd457843ee27e8ba56b65c/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp#L38-L40


      
          number_of_threads_ = number_of_threads > 0 ?
            number_of_threads :
            std::max(std::thread::hardware_concurrency(), 2U);

aezquerrostudent · March 7, 2023, 9:23am

Hello @JRTG ,

Many thanks for your feedback. We will check it out and fix it asap.

system · March 12, 2023, 9:23am

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