A ROS2 package providing alternative executor implementations. This repository is kept as a historical reference.
- Compared to rclcpp::experimental::EventsExecutor
- Multithread support
- Support for mixing timers using different clocks (ROS_TIME/SYSTEM_TIME/STEADY_TIME)
- Comparable performance in one thread mode
- 10-15% less CPU usage than rclcpp::SingleThreadedExecutor and rclcpp::MultiThreadedExecutor
- If the process is constantly overloaded and can not process the subscriptions timers etc, over time the events bag log will grow unbounded.