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add multithreaded executor. various improvements

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This commit is contained in:
Kurt Wilson 2023-05-20 15:30:26 -04:00
parent 46641d7fea
commit a151eeee02
7 changed files with 323 additions and 167 deletions
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15
src/priority_executor/CMakeLists.txt
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@ -38,6 +38,18 @@ ament_target_dependencies(priority_executor
simple_timer
)
add_library(multithread_priority_executor src/multithread_priority_executor.cpp src/priority_memory_strategy.cpp)
target_include_directories(multithread_priority_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(multithread_priority_executor
rmw
rclcpp
rcl
simple_timer
)
add_executable(usage_example src/usage_example.cpp)
target_include_directories(usage_example PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@ -60,7 +72,7 @@ install(TARGETS usage_example
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS priority_executor
install(TARGETS priority_executor multithread_priority_executor
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
@ -79,4 +91,5 @@ endif()
ament_export_include_directories(include)
ament_export_libraries(priority_executor)
ament_export_libraries(multithread_priority_executor)
ament_package()