Num workers = cpu_count()

ros2 · Sep 15, 2017 · 018513a · 018513a
1 parent 4400150
commit 018513a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/rclpy/executors/examples_rclpy_executors/custom_executor.py b/rclpy/executors/examples_rclpy_executors/custom_executor.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from concurrent.futures import ThreadPoolExecutor
+import multiprocessing
 
 from examples_rclpy_executors.listener import Listener
 from examples_rclpy_executors.talker import Talker
@@ -45,7 +46,7 @@ class PriorityExecutor(Executor):
     def __init__(self):
         super().__init__()
         self.high_priority_nodes = set()
-        self.hp_executor = ThreadPoolExecutor(max_workers=10)
+        self.hp_executor = ThreadPoolExecutor(max_workers=multiprocessing.cpu_count())
         self.lp_executor = ThreadPoolExecutor(max_workers=1)
 
     def add_high_priority_node(self, node):