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fix timeout

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This commit is contained in:
Kurt Wilson 2023-05-22 12:46:53 -04:00
parent e7c58ff5b3
commit ab0915c49f
2 changed files with 2 additions and 2 deletions
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2
src/priority_executor/include/priority_executor/multithread_priority_executor.hpp
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@ -27,7 +27,7 @@ namespace timed_executor
std::shared_ptr<rclcpp::detail::MutexTwoPriorities>> std::shared_ptr<rclcpp::detail::MutexTwoPriorities>>
wait_mutex_set_; wait_mutex_set_;
static std::mutex shared_wait_mutex_; static std::mutex shared_wait_mutex_;
std::chrono::nanoseconds next_exec_timeout_ = std::chrono::microseconds(100); // 0.1 ms std::chrono::nanoseconds next_exec_timeout_ = std::chrono::nanoseconds(-1);
}; };
} }

2
src/priority_executor/src/priority_executor.cpp
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@ -49,7 +49,7 @@ namespace timed_executor
// size_t ready = memory_strategy_->number_of_ready_subscriptions(); // size_t ready = memory_strategy_->number_of_ready_subscriptions();
// std::cout << "ready:" << ready << std::endl; // std::cout << "ready:" << ready << std::endl;
if (get_next_executable(any_executable)) if (get_next_executable(any_executable, std::chrono::nanoseconds(-1)))
{ {
execute_any_executable(any_executable); execute_any_executable(any_executable);
// make sure memory_strategy_ is an instance of PriorityMemoryStrategy // make sure memory_strategy_ is an instance of PriorityMemoryStrategy