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Refactor component containers#3129

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mini-1235 wants to merge 3 commits intoros2:rollingfrom
mini-1235:refactor/component_containers
Open

Refactor component containers#3129
mini-1235 wants to merge 3 commits intoros2:rollingfrom
mini-1235:refactor/component_containers

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@mini-1235 mini-1235 commented Apr 14, 2026

Description

Supersedes #3055

Is this user-facing behavior change?

Yes,

  • When users use component_container_mt/component_container_event/component_container_isolated, they will see a warning message
  • When using component_container without any arguments, it will default to non isolated + single threaded, so users will probably not notice this change

Did you use Generative AI?

Yes, Github Copilot

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Refactor component containers
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Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
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skyegalaxy commented Apr 14, 2026

Would we be able to also include component containers for the new callback group events executor? I had a draft PR to do so but it was blocked by several cascading PRs waiting on green CI to get in

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mini-1235 commented Apr 15, 2026

Sure :) I didn't include it here since this PR is mainly focused on refactoring the existing component containers. Should I go ahead and include it in this one?

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mini-1235 commented Apr 15, 2026

I took a look through the core repositories, and I don't think anything is currently using component_container_mt/event/isolated, the only thing that seems to need updating is ros2/ros2_documentation#6401

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skyegalaxy commented Apr 17, 2026

Sure :) I didn't include it here since this PR is mainly focused on refactoring the existing component containers. Should I go ahead and include it in this one?

Per today's Client Library WG meeting: yes, let's replace the experimental events executor in this PR with the EventsCBGExecutor. Could you also add options for single threaded vs multi threaded mode, similar to https://github.com/ros2/rclcpp/pull/3123/changes#diff-a10f35c54a2ef381f2f406fe9c2de5135e2b79125fc391d7eedd66b501b786fdR58 ?

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