Merge pull request #10 from rogy-AquaLab/mt

Use `MultiThreadedExecutor`
rogy-AquaLab · Jun 3, 2024 · 514b5ff · 514b5ff
2 parents 2b2f315 + a5cd503
commit 514b5ff
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/device/nucleo_communicate_py/nucleo_communicate_py/main.py b/device/nucleo_communicate_py/nucleo_communicate_py/main.py
@@ -4,13 +4,12 @@
 import sys
 
 import rclpy
-from rclpy.executors import SingleThreadedExecutor, ExternalShutdownException
+from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
 
+from .mutex_serial import MutexSerial
 from .receiver import Receiver
 from .sender import Sender
 
-from .mutex_serial import MutexSerial
-
 
 def main(args=sys.argv):
  rclpy.init(args=args)
@@ -20,7 +19,7 @@ def main(args=sys.argv):
  sender = Sender(mutex_serial)
  receiver = Receiver(mutex_serial)
 
- executor = SingleThreadedExecutor()
+ executor = MultiThreadedExecutor()
  executor.add_node(sender)
  executor.add_node(receiver)
  executor.spin()

diff --git a/device/pi_i2c/pi_i2c/all.py b/device/pi_i2c/pi_i2c/all.py
@@ -1,7 +1,7 @@
 import sys
 
 import rclpy
-from rclpy.executors import SingleThreadedExecutor, ExternalShutdownException
+from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
 
 from .depth import Depth
 from .imu import Imu
@@ -13,7 +13,7 @@ def main(args=sys.argv):
  depth = Depth()
  imu = Imu()
 
- executor = SingleThreadedExecutor()
+ executor = MultiThreadedExecutor()
  executor.add_node(depth)
  executor.add_node(imu)
  executor.spin()