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Change to EventsExecutor
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Signed-off-by: Francisco Martín Rico <[email protected]>
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@fmrico
fmrico committed Nov 5, 2024
1 parent 4d8e61c commit 645f44a
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Showing 3 changed files with 11 additions and 11 deletions.
6 changes: 3 additions & 3 deletions plansys2_executor/test/unit/execution_tree_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ TEST(executiotest_noden_tree, bt_builder_factory)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -192,7 +192,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_2)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -332,7 +332,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_3)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
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4 changes: 2 additions & 2 deletions plansys2_lifecycle_manager/test/lf_manager_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ TEST(lifecycle_manager, lf_client)
auto test_node = rclcpp_lifecycle::LifecycleNode::make_shared("test");
auto client_node = std::make_shared<plansys2::LifecycleServiceClient>("mng_client", "test");

auto exe = rclcpp::executors::SingleThreadedExecutor::make_shared();
auto exe = rclcpp::experimental::executors::EventsExecutor::make_shared();
exe->add_node(test_node->get_node_base_interface());
exe->add_node(client_node->get_node_base_interface());

Expand Down Expand Up @@ -97,7 +97,7 @@ TEST(lifecycle_manager, lf_startup)
manager_nodes["executor"] = std::make_shared<plansys2::LifecycleServiceClient>(
"domain_expert_lc_mngr", "executor");

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;
for (auto & manager_node : manager_nodes) {
manager_node.second->init();
exe.add_node(manager_node.second);
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12 changes: 6 additions & 6 deletions plansys2_problem_expert/test/unit/utils_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,7 +203,7 @@ TEST(utils, evaluate_predicate_client)
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -541,7 +541,7 @@ TEST(utils, evaluate_expression_invalid_client)
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -696,7 +696,7 @@ TEST(utils, evaluate_function_mod_client)
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -787,7 +787,7 @@ TEST(utils, evaluate_function_mod_invalid_client)
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -905,7 +905,7 @@ TEST(utils, evaluate_exists_client)
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
problem_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(problem_node->get_node_base_interface());

Expand Down Expand Up @@ -990,7 +990,7 @@ TEST(utils, get_action_from_string)
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
domain_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());

Expand Down

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