Handling dedicated executor for nodes inside ComponentManager itself rather than ComponentManagerIsolated

armaho · armaho · commit ef118c5aaf15 · 2026-02-20T14:00:34.000Z
Signed-off-by: Arman Hosseini &lt;armanhosseini878787@gmail.com&gt;
diff --git a/build/.built_by b/build/.built_by
@@ -0,0 +1 @@
+colcon
diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE
diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout
@@ -0,0 +1 @@
+isolated
diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE
diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE
diff --git a/log/build_2026-02-20_13-59-24/logger_all.log b/log/build_2026-02-20_13-59-24/logger_all.log
@@ -0,0 +1,84 @@
+[0.266s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-select', 'rclcpp_components']
+[0.266s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=['rclcpp_components'], packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, mixin_files=None, mixin=None, verb_parser=<colcon_mixin.mixin.mixin_argument.MixinArgumentDecorator object at 0xffff92d2ce30>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0xffff92e88950>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0xffff92e88950>>, mixin_verb=('build',))
+[0.344s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.344s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.344s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.344s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.344s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.345s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.345s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/arman/ros2_rolling/src/ros2/rclcpp'
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.345s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.390s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extensions ['ignore', 'ignore_ament_install']
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extension 'ignore'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extension 'ignore_ament_install'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extensions ['colcon_pkg']
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extension 'colcon_pkg'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extensions ['colcon_meta']
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extension 'colcon_meta'
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extensions ['ros']
+[0.391s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp) by extension 'ros'
+[0.395s] DEBUG:colcon.colcon_core.package_identification:Package 'rclcpp' with type 'ros.ament_cmake' and name 'rclcpp'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extensions ['ignore', 'ignore_ament_install']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extension 'ignore'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extension 'ignore_ament_install'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extensions ['colcon_pkg']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extension 'colcon_pkg'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extensions ['colcon_meta']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extension 'colcon_meta'
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extensions ['ros']
+[0.396s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_action) by extension 'ros'
+[0.397s] DEBUG:colcon.colcon_core.package_identification:Package 'rclcpp_action' with type 'ros.ament_cmake' and name 'rclcpp_action'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extensions ['ignore', 'ignore_ament_install']
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extension 'ignore'
+[0.397s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extension 'ignore_ament_install'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extensions ['colcon_pkg']
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extension 'colcon_pkg'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extensions ['colcon_meta']
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extension 'colcon_meta'
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extensions ['ros']
+[0.398s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_components) by extension 'ros'
+[0.399s] DEBUG:colcon.colcon_core.package_identification:Package 'rclcpp_components' with type 'ros.ament_cmake' and name 'rclcpp_components'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extensions ['ignore', 'ignore_ament_install']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extension 'ignore'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extension 'ignore_ament_install'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extensions ['colcon_pkg']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extension 'colcon_pkg'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extensions ['colcon_meta']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extension 'colcon_meta'
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extensions ['ros']
+[0.399s] Level 1:colcon.colcon_core.package_identification:_identify(rclcpp_lifecycle) by extension 'ros'
+[0.400s] DEBUG:colcon.colcon_core.package_identification:Package 'rclcpp_lifecycle' with type 'ros.ament_cmake' and name 'rclcpp_lifecycle'
+[0.400s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.400s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.400s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.400s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.400s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.445s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'rclcpp' in 'rclcpp'
+[0.445s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'rclcpp_action' in 'rclcpp_action'
+[0.445s] INFO:colcon.colcon_core.package_selection:Skipping not selected package 'rclcpp_lifecycle' in 'rclcpp_lifecycle'
+[0.446s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.446s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.490s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 360 installed packages in /home/arman/ros2_rolling/install
+[0.492s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
diff --git a/log/latest b/log/latest
@@ -0,0 +1 @@
+latest_build
diff --git a/log/latest_build b/log/latest_build
@@ -0,0 +1 @@
+build_2026-02-20_13-59-24
diff --git a/rclcpp_components/include/rclcpp_components/component_manager.hpp b/rclcpp_components/include/rclcpp_components/component_manager.hpp
@@ -78,6 +78,21 @@ class ComponentManagerException : public std::runtime_error
 /// ComponentManager handles the services to load, unload, and get the list of loaded components.
 class ComponentManager : public rclcpp::Node
 {
+  struct DedicatedExecutorWrapper
+  {
+    std::shared_ptr<rclcpp::Executor> executor;
+    std::thread thread;
+    std::atomic_bool thread_initialized;
+
+    /// Constructor for the wrapper.
+    /// This is necessary as atomic variables don't have copy/move operators
+    /// implemented so this structure is not copyable/movable by default
+    explicit DedicatedExecutorWrapper(std::shared_ptr<rclcpp::Executor> exec)
+    : executor(exec), thread_initialized(false)
+    {
+    }
+  };
+
 public:
   using LoadNode = composition_interfaces::srv::LoadNode;
   using UnloadNode = composition_interfaces::srv::UnloadNode;
@@ -225,6 +240,16 @@ class ComponentManager : public rclcpp::Node
   rclcpp::Service<LoadNode>::SharedPtr loadNode_srv_;
   rclcpp::Service<UnloadNode>::SharedPtr unloadNode_srv_;
   rclcpp::Service<ListNodes>::SharedPtr listNodes_srv_;
+
+private:
+  /// Stops a spinning executor avoiding race conditions.
+  /**
+   * @param executor_wrapper executor to stop and its associated thread
+   */
+  void
+  cancel_executor(DedicatedExecutorWrapper & executor_wrapper);
+
+  std::unordered_map<uint64_t, DedicatedExecutorWrapper> dedicated_executor_wrappers_;
 };
 
 }  // namespace rclcpp_components
diff --git a/rclcpp_components/include/rclcpp_components/component_manager_isolated.hpp b/rclcpp_components/include/rclcpp_components/component_manager_isolated.hpp
@@ -37,7 +37,12 @@ namespace rclcpp_components
 {
 /// ComponentManagerIsolated uses dedicated single-threaded executors for each components.
 template<typename ExecutorT = rclcpp::executors::SingleThreadedExecutor>
-class ComponentManagerIsolated : public rclcpp_components::ComponentManager
+class
+[[deprecated(
+  "ComponentManagerIsolated is deprecated. Use ComponentManager, and specify the type of executor "
+  "you want to use for each node with the 'executor_type' parameter of "
+  "load_node.")]]
+ComponentManagerIsolated : public rclcpp_components::ComponentManager
 {
   using rclcpp_components::ComponentManager::ComponentManager;
 
diff --git a/rclcpp_components/include/rclcpp_components/node_instance_wrapper.hpp b/rclcpp_components/include/rclcpp_components/node_instance_wrapper.hpp
@@ -22,6 +22,14 @@
 
 namespace rclcpp_components
 {
+
+enum class ExecutorType
+{
+  Shared,
+  SingleThreaded,
+  MultiThreaded,
+};
+
 /// The NodeInstanceWrapper encapsulates the node instance.
 class NodeInstanceWrapper
 {
@@ -35,9 +43,15 @@ class NodeInstanceWrapper
 
   NodeInstanceWrapper(
     std::shared_ptr<void> node_instance,
-    NodeBaseInterfaceGetter node_base_interface_getter)
-  : node_instance_(node_instance), node_base_interface_getter_(node_base_interface_getter)
-  {}
+    NodeBaseInterfaceGetter node_base_interface_getter,
+    ExecutorType executor_type = ExecutorType::Shared,
+    int thread_num = 0)
+  : executor_type_(executor_type),
+    thread_num_(thread_num),
+    node_instance_(node_instance),
+    node_base_interface_getter_(node_base_interface_getter)
+  {
+  }
 
   /// Get a type-erased pointer to the original Node instance
   /**
@@ -62,7 +76,33 @@ class NodeInstanceWrapper
     return node_base_interface_getter_(node_instance_);
   }
 
+  ExecutorType
+  get_executor_type()
+  {
+    return executor_type_;
+  }
+
+  int
+  get_thread_num()
+  {
+    return thread_num_;
+  }
+
+  void
+  set_executor_type(ExecutorType executor_type)
+  {
+    executor_type_ = executor_type;
+  }
+
+  void
+  set_thread_num(int thread_num)
+  {
+    thread_num_ = thread_num;
+  }
+
 private:
+  ExecutorType executor_type_;
+  int thread_num_;
   std::shared_ptr<void> node_instance_;
   NodeBaseInterfaceGetter node_base_interface_getter_;
 };
diff --git a/rclcpp_components/src/component_container_isolated.cpp b/rclcpp_components/src/component_container_isolated.cpp
@@ -21,8 +21,11 @@
 #include "rclcpp/utilities.hpp"
 
 #include "rclcpp_components/component_manager_isolated.hpp"
-
-int main(int argc, char * argv[])
+[[deprecated(
+  "component_container_isolated is deprecated. Use component_container, and specify the type of "
+  "executor you want to use for each node with the 'executor_type' parameter of load_node.")]]
+int
+main(int argc, char * argv[])
 {
   /// Component container with dedicated single-threaded executors for each components.
   rclcpp::init(argc, argv);
@@ -46,6 +49,11 @@ int main(int argc, char * argv[])
       rclcpp_components::ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
     node = std::make_shared<ComponentManagerIsolated>(exec);
   }
+
+  RCLCPP_WARN(node->get_logger(),
+    "component_container_isolated is deprecated. Use component_container, and specify the type of "
+    "executor you want to use for each node with the 'executor_type' parameter of load_node.");
+
   exec->add_node(node);
   exec->spin();
 
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp

Original file line number	Diff line number	Diff line change
`@@ -37,7 +37,12 @@ namespace rclcpp_components`
`37`	`37`	`{`
`38`	`38`	`/// ComponentManagerIsolated uses dedicated single-threaded executors for each components.`
`39`	`39`	`template<typename ExecutorT = rclcpp::executors::SingleThreadedExecutor>`
`40`		`-class ComponentManagerIsolated : public rclcpp_components::ComponentManager`
	`40`	`+class`
	`41`	`+[[deprecated(`
	`42`	`+ "ComponentManagerIsolated is deprecated. Use ComponentManager, and specify the type of executor "`
	`43`	`+ "you want to use for each node with the 'executor_type' parameter of "`
	`44`	`+ "load_node.")]]`
	`45`	`+ComponentManagerIsolated : public rclcpp_components::ComponentManager`
`41`	`46`	`{`
`42`	`47`	`using rclcpp_components::ComponentManager::ComponentManager;`
`43`	`48`