Use the events executor for most suitable python nodes

bitbots_misc/bitbots_teleop/bitbots_teleop/joy_node.py

@@ -7,6 +7,7 @@
 from rclpy.duration import Duration
 from rclpy.node import Node
 from sensor_msgs.msg import Joy
+from rclpy.experimental.events_executor import EventsExecutor
 
 from bitbots_msgs.msg import Audio, HeadMode, JointCommand
 
@@ -240,6 +241,12 @@ def joy_cb(self, msg: Joy):
 def main():
     rclpy.init(args=None)
     node = JoyNode()
-    rclpy.spin(node)
+
+    executor = EventsExecutor()
+    executor.add_node(node)
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        node.get_logger().info("Joy node stopped by user")
+
     node.destroy_node()
-    rclpy.shutdown()

bitbots_misc/bitbots_tts/bitbots_tts/tts.py

@@ -13,6 +13,7 @@
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.publisher import Publisher
+from rclpy.experimental.events_executor import EventsExecutor
 
 from bitbots_msgs.msg import Audio
 
@@ -121,7 +122,7 @@ def speak_cb(self, msg: Audio) -> None:
 def main(args=None):
     rclpy.init(args=args)
     node = Speaker()
-    executor = MultiThreadedExecutor(num_threads=2)
+    executor = EventsExecutor()
     executor.add_node(node)
     try:
         executor.spin()

bitbots_motion/bitbots_hcm/bitbots_hcm/humanoid_control_module.py

@@ -12,7 +12,7 @@
 from dynamic_stack_decider.dsd import DSD
 from rcl_interfaces.msg import Parameter as ParameterMsg
 from rclpy.duration import Duration
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.experimental.events_executor import EventsExecutor
 from rclpy.node import Node
 from rclpy.parameter import Parameter
 from rclpy.serialization import deserialize_message
@@ -54,9 +54,9 @@ def __init__(self, use_sim_time, simulation_active, visualization_active):
         )
 
         # Create own executor for Python part
-        multi_executor = MultiThreadedExecutor(num_threads=10)
-        multi_executor.add_node(self.node)
-        self.spin_thread = threading.Thread(target=multi_executor.spin, args=(), daemon=True)
+        executor = EventsExecutor()
+        executor.add_node(self.node)
+        self.spin_thread = threading.Thread(target=executor.spin, args=(), daemon=True)
         self.spin_thread.start()
 
         # Otherwise messages will get lost, bc the init is not finished

bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py

@@ -14,6 +14,8 @@
 from bitbots_localization_handler.localization_dsd.localization_blackboard import LocalizationBlackboard
 from bitbots_msgs.msg import RobotControlState
 
+from rclpy.experimental.events_executor import EventsExecutor
+
 
 def init(node: Node):
     # Create blackboard to store state
@@ -65,7 +67,7 @@ def main(args=None):
     node.create_timer(1 / 25.0, dsd.update, callback_group=MutuallyExclusiveCallbackGroup())
 
     # Create executor
-    multi_executor = MultiThreadedExecutor(4)
+    multi_executor = EventsExecutor()
     multi_executor.add_node(node)
 
     # Spin the executor

bitbots_navigation/bitbots_path_planning/bitbots_path_planning/path_planning.py

@@ -6,6 +6,7 @@
 from rclpy.duration import Duration
 from std_msgs.msg import Bool, Empty
 from visualization_msgs.msg import MarkerArray
+from rclpy.experimental.events_executor import EventsExecutor
 
 from bitbots_path_planning import NodeWithConfig
 from bitbots_path_planning.controller import Controller
@@ -74,7 +75,11 @@ def main(args=None):
     rclpy.init(args=args)
     node = PathPlanning()
 
-    rclpy.spin(node)
+    executor = EventsExecutor()
+    executor.add_node(node)
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        node.get_logger().info("Path planning node stopped by user")
 
     node.destroy_node()
-    rclpy.shutdown()

bitbots_simulation/bitbots_robocup_api/bitbots_robocup_api/command_proxy.py

@@ -1,6 +1,7 @@
 import os
 
 import rclpy
+from rclpy.experimental.events_executor import EventsExecutor
 from ament_index_python.packages import get_package_share_directory
 from rclpy.node import Node
 from sensor_msgs.msg import JointState
@@ -42,6 +43,10 @@ def listener_callback(self, msg: JointCommand):
 def main(args=None):
     rclpy.init(args=args)
     command_proxy = CommandProxy()
-    rclpy.spin(command_proxy)
+    executor = EventsExecutor()
+    executor.add_node(command_proxy)
+    try:
+        executor.spin()
+    except KeyboardInterrupt:
+        command_proxy.get_logger().info("Shutting down command proxy due to keyboard interrupt.")
     command_proxy.destroy_node()
-    rclpy.shutdown()

bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py

@@ -5,6 +5,7 @@
 import threading
 
 import rclpy
+from rclpy.experimental.events_executor import EventsExecutor
 from ament_index_python import get_package_share_directory
 from rclpy.node import Node
 
@@ -71,9 +72,12 @@ def run_simulation(self):
 
     rclpy.init()
     node = WebotsSim(args.nogui, args.multi_robot, args.headless, args.sim_port, args.robot_type)
-    thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+
+    executor = EventsExecutor()
+    executor.add_node(node)
+
+    thread = threading.Thread(target=executor.spin, daemon=True)
     thread.start()
     node.run_simulation()
 
     node.destroy_node()
-    rclpy.shutdown()

bitbots_simulation/bitbots_webots_sim/scripts/start_single.py

@@ -5,6 +5,7 @@
 
 import rclpy
 from bitbots_webots_sim.webots_robot_controller import RobotController
+from rclpy.experimental.events_executor import EventsExecutor
 from controller import Robot
 from rclpy.node import Node
 
@@ -59,9 +60,12 @@ def run(self):
     robot = RobotNode(
         args.sim_port, args.robot_name, args.void_controller, args.disable_camera, args.recognize, args.robot_type
     )
-    thread = threading.Thread(target=rclpy.spin, args=(robot.node,), daemon=True)
+
+    executor = EventsExecutor()
+    executor.add_node(robot.node)
+
+    thread = threading.Thread(target=executor.spin, daemon=True)
     thread.start()
     robot.run()
 
     robot.node.destroy_node()
-    rclpy.shutdown()

bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py

@@ -4,6 +4,7 @@
 import threading
 
 import rclpy
+from rclpy.experimental.events_executor import EventsExecutor
 from bitbots_webots_sim.webots_supervisor_controller import SupervisorController
 from rclpy.node import Node
 
@@ -29,9 +30,12 @@ def run(self):
 
     rclpy.init()
     supervisor = SupervisorNode(args.sim_port)
-    thread = threading.Thread(target=rclpy.spin, args=(supervisor.node,), daemon=True)
+
+    executor = EventsExecutor()
+    executor.add_node(supervisor.node)
+
+    thread = threading.Thread(target=executor.spin, daemon=True)
     thread.start()
     supervisor.run()
 
     supervisor.node.destroy_node()
-    rclpy.shutdown()

bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py

@@ -15,7 +15,7 @@
 from numpy import double
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.experimental.events_executor import EventsExecutor
 from rclpy.node import Node
 from rclpy.time import Time
 from soccer_vision_3d_msgs.msg import Robot, RobotArray
@@ -69,9 +69,12 @@ def __init__(self):
         self.receive_forever()
 
     def spin(self):
-        multi_executor = MultiThreadedExecutor(num_threads=10)
-        multi_executor.add_node(self.node)
-        multi_executor.spin()
+        executor = EventsExecutor()
+        executor.add_node(self.node)
+        try:
+            executor.spin()
+        except KeyboardInterrupt:
+            self.logger.info("Shutting down team communication node.")
 
     def run_spin_in_thread(self):
         # Necessary in ROS2, else we are forever stuck receiving messages

bitbots_vision/bitbots_vision/vision.py

@@ -7,6 +7,7 @@
 from cv_bridge import CvBridge
 from rcl_interfaces.msg import SetParametersResult
 from rclpy.node import Node
+from rclpy.experimental.events_executor import EventsExecutor
 from sensor_msgs.msg import Image
 
 from bitbots_vision.vision_modules import ros_utils, yoeo
@@ -146,8 +147,10 @@ def _run_components(self, image_msg: Image) -> None:
 def main(args=None):
     rclpy.init(args=args)
     node = YOEOVision()
+    executor = EventsExecutor()
+    executor.add_node(node)
     try:
-        rclpy.spin(node)
+        executor.spin()
     except KeyboardInterrupt:
         pass
     node.destroy_node()

bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_filter.py

@@ -8,7 +8,7 @@
 from geometry_msgs.msg import Point, PoseWithCovarianceStamped
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.experimental.events_executor import EventsExecutor
 from rclpy.node import Node
 from rclpy.time import Time
 from ros2_numpy import msgify, numpify
@@ -264,8 +264,7 @@ def main(args=None) -> None:
     rclpy.init(args=args)
 
     node = BallFilter()
-    # Number of executor threads is the number of MutiallyExclusiveCallbackGroups + 1 thread for the executor
-    ex = MultiThreadedExecutor(num_threads=3)
+    ex = EventsExecutor()
     ex.add_node(node)
     try:
         ex.spin()

bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py

@@ -12,6 +12,7 @@
 from rclpy.time import Time
 from ros2_numpy import numpify
 from std_msgs.msg import Header
+from rclpy.experimental.events_executor import EventsExecutor
 
 from bitbots_msgs.msg import TeamData
 
@@ -124,11 +125,10 @@ def _team_data_callback(self, msg: TeamData):
 def main(args=None):
     rclpy.init(args=args)
     node = RobotFilter()
-    # Number of executor threads is the number of MutuallyExclusiveCallbackGroups + 2 threads the tf listener and executor needs
-    ex = MultiThreadedExecutor(num_threads=5)
-    ex.add_node(node)
+    executor = EventsExecutor()
+    executor.add_node(node)
     try:
-        ex.spin()
+        executor.spin()
     except KeyboardInterrupt:
         pass
     node.destroy_node()