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Add argument for thread count to multithreaded executor #442

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merged 1 commit into from
Mar 30, 2018
Merged

Add argument for thread count to multithreaded executor #442

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3 changes: 2 additions & 1 deletion rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,8 @@ class MultiThreadedExecutor : public executor::Executor

RCLCPP_PUBLIC
MultiThreadedExecutor(
const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments());
const executor::ExecutorArgs & args = rclcpp::executor::create_default_executor_arguments(),
size_t number_of_threads = 0);

RCLCPP_PUBLIC
virtual ~MultiThreadedExecutor();
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6 changes: 4 additions & 2 deletions rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
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Expand Up @@ -23,10 +23,12 @@

using rclcpp::executors::MultiThreadedExecutor;

MultiThreadedExecutor::MultiThreadedExecutor(const rclcpp::executor::ExecutorArgs & args)
MultiThreadedExecutor::MultiThreadedExecutor(
const rclcpp::executor::ExecutorArgs & args,
size_t number_of_threads)
: executor::Executor(args)
{
number_of_threads_ = std::thread::hardware_concurrency();
number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
if (number_of_threads_ == 0) {
number_of_threads_ = 1;
}
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