Merge pull request #186 from ros2/remove_sleep

remove excess sleep
ros2 · Dec 18, 2015 · 496c3e1 · 496c3e1
2 parents 300c7ca + a7a6111
commit 496c3e1
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Showing 2 changed files with 1 addition and 4 deletions.
diff --git a/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
@@ -61,7 +61,6 @@ class MultiThreadedExecutor : public executor::Executor
 
   std::mutex wait_mutex_;
   size_t number_of_threads_;
-  std::unordered_map<std::thread::id, size_t> thread_number_by_thread_id_;
 };
 
 }  // namespace multi_threaded_executor

diff --git a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
@@ -46,7 +46,6 @@ MultiThreadedExecutor::spin()
   {
     std::lock_guard<std::mutex> wait_lock(wait_mutex_);
     for (; thread_id < number_of_threads_ - 1; ++thread_id) {
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
       auto func = std::bind(&MultiThreadedExecutor::run, this, thread_id);
       threads.emplace_back(func);
     }
@@ -65,9 +64,8 @@ MultiThreadedExecutor::get_number_of_threads()
 }
 
 void
-MultiThreadedExecutor::run(size_t this_thread_number)
+MultiThreadedExecutor::run(size_t)
 {
-  thread_number_by_thread_id_[std::this_thread::get_id()] = this_thread_number;
   while (rclcpp::utilities::ok() && spinning.load()) {
     executor::AnyExecutable::SharedPtr any_exec;
     {