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micro-ROS Library auto-update 19-07-2021 06:18 #381

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Merged
pablogs9 merged 1 commit into from
Jul 20, 2021
Merged

micro-ROS Library auto-update 19-07-2021 06:18 #381

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2 changes: 1 addition & 1 deletion built_packages
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ https://github.com/micro-ROS/rosidl_typesupport.git 0e03d18809cb08215877ff856a91
https://github.com/micro-ROS/rcutils 500ee3fcb16bf6260453c75b50c3d7785d724443
https://github.com/micro-ROS/micro_ros_utilities c829971bd33ac1f14a94aa722476110b4b59eaf9
https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 07ae5aa5c456f887f2aa82896e207a3209309a50
https://github.com/ros2/rclc 86399a7eed78a583043c5b620a55655976240d05
https://github.com/ros2/rclc 701a32ded6ca4c2c60468d9d9b704a1d088bb6a3
https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
https://github.com/ros-controls/control_msgs 11fdcdf76434d8ca9047787d17add4e18f56e9d6
https://github.com/ros2/rcl_interfaces.git c5d0a20150533a6cb93d5dcbd6e27cea9300aa6e
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15 changes: 15 additions & 0 deletions src/rclc/executor.h
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Expand Up @@ -94,6 +94,21 @@ rclc_executor_get_zero_initialized_executor(void);
* Initializes an executor.
* It creates a dynamic array with size \p number_of_handles using the
* \p allocator.
* As the Executor is intended for embedded controllers, dynamic memory management is crucial.
* Therefore at initialization of the RCLC-Executor, the user defines the total \p number_of_handles.
* A handle is a term for subscriptions, timers, services, clients and guard conditions. The
* heap will be allocated only in this phase and no more memory will be allocated in the
* running phase in the executor. However, the heap memory of corresponding wait-set is
* allocated in the first iteration of a spin-method, which calls internally rclc_executor_prepare.
* Optionally, you can also call rclc_executor_prepare before calling any of the spin-methods.
* Then all wait-set related memory allocation will be done in rclc_executor_prepare and not
* in the first iteration of the spin-method.
*
* This makes this Executor static in
* terms of memory allocation, in the sense, that during runtime no heap allocations occur.
* You can add, however, at runtime as many handles, e.g. subscriptions, to the executor
* until the maximum number of handles is reached. In this case, the wait-set needs to be
* updated and rclc_executor_prepare is called again (with dynamic memory allocation in RCL).
*
*
* * <hr>
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