Merge pull request #332 from PlanSys2/maintenance_rolling

Maintenance rolling
PlanSys2 · Nov 5, 2024 · fce7289 · fce7289
2 parents b82cc6f + 645f44a
commit fce7289
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Showing 26 changed files with 72 additions and 69 deletions.
diff --git a/plansys2_bringup/src/plansys2_node.cpp b/plansys2_bringup/src/plansys2_node.cpp
@@ -32,7 +32,7 @@ int main(int argc, char ** argv)
 
   rclcpp::init(argc, argv);
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   auto domain_node = std::make_shared<plansys2::DomainExpertNode>();
   auto problem_node = std::make_shared<plansys2::ProblemExpertNode>();

diff --git a/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp b/plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp
@@ -350,7 +350,7 @@ class BtActionNode : public BT::ActionNodeBase
       };
     send_goal_options.feedback_callback =
       [this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
-        const std::shared_ptr<const typename ActionT::Feedback> feedback) {
+      const std::shared_ptr<const typename ActionT::Feedback> feedback) {
         on_feedback(feedback);
       };
 

diff --git a/plansys2_bt_actions/test/behavior_tree/transport.xml b/plansys2_bt_actions/test/behavior_tree/transport.xml
@@ -1,7 +1,7 @@
 <root BTCPP_format="4" main_tree_to_execute = "MainTree" >
     <BehaviorTree ID="MainTree">
        <Sequence name="root_sequence">
-           <Move           name="move" goal="${arg2}"  goal_reached="${goal_reached}"/>
+           <Move           name="move" goal="{arg2}"  goal_reached="{goal_reached}"/>
            <OpenGripper    name="open_gripper"/>
            <CloseGripper   name="close_gripper"/>
        </Sequence>

diff --git a/plansys2_bt_actions/test/unit/bt_action_test.cpp b/plansys2_bt_actions/test/unit/bt_action_test.cpp
@@ -245,7 +245,7 @@ TEST(bt_actions, bt_action)
 
   bt_action->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
 
-  rclcpp::executors::MultiThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
   exe.add_node(bt_action->get_node_base_interface());
   exe.add_node(lc_node->get_node_base_interface());
 
@@ -282,7 +282,7 @@ TEST(bt_actions, cancel_bt_action)
 
   bt_action->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
 
-  rclcpp::executors::MultiThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
   exe.add_node(bt_action->get_node_base_interface());
   exe.add_node(lc_node->get_node_base_interface());
 

diff --git a/plansys2_domain_expert/src/domain_expert_node.cpp b/plansys2_domain_expert/src/domain_expert_node.cpp
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
   auto node = std::make_shared<plansys2::DomainExpertNode>();
 
-  rclcpp::executors::MultiThreadedExecutor executor;
+  rclcpp::experimental::executors::EventsExecutor executor;
   executor.add_node(node->get_node_base_interface());
   executor.spin();
   executor.remove_node(node->get_node_base_interface());

diff --git a/plansys2_domain_expert/test/unit/domain_expert_node_test.cpp b/plansys2_domain_expert/test/unit/domain_expert_node_test.cpp
@@ -38,7 +38,7 @@ TEST(domain_expert, lifecycle)
   std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_domain_expert");
 
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.pddl"});
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
 
@@ -105,7 +105,7 @@ TEST(domain_expert, lifecycle_error)
   std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_domain_expert");
 
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_2_error.pddl"});
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
 

diff --git a/plansys2_executor/src/plansys2_executor/ComputeBT.cpp b/plansys2_executor/src/plansys2_executor/ComputeBT.cpp
@@ -219,7 +219,7 @@ ComputeBT::computeBTCallback(
   domain_node_->set_parameter({"model_file", domain_filename});
   problem_node_->set_parameter({"model_file", domain_filename});
 
-  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());

diff --git a/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp b/plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp
@@ -41,6 +41,10 @@ ExecuteAction::halt()
   size_t delim = action.find(":");
   auto action_expr = action.substr(0, delim);
 
+  if (action_map_ == nullptr || (*action_map_)[action].action_executor == nullptr) {
+    return;
+  }
+
   if ((*action_map_)[action].action_executor->get_status() == BT::NodeStatus::RUNNING) {
     (*action_map_)[action].action_executor->cancel();
   }

diff --git a/plansys2_executor/test/unit/action_execution_test.cpp b/plansys2_executor/test/unit/action_execution_test.cpp
@@ -125,7 +125,7 @@ TEST(action_execution, protocol_basic)
 
   move_action_node->set_parameter({"action_name", "move"});
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(test_node);
   exe.add_node(test_lf_node->get_node_base_interface());
@@ -240,7 +240,7 @@ TEST(action_execution, protocol_cancelation)
 
   move_action_node->set_parameter({"action_name", "move"});
 
-  rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(test_node);
   exe.add_node(test_lf_node->get_node_base_interface());

diff --git a/plansys2_executor/test/unit/bt_node_test.cpp b/plansys2_executor/test/unit/bt_node_test.cpp
@@ -72,7 +72,7 @@ TEST(problem_expert, wait_overall_req_test)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.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());
@@ -186,7 +186,7 @@ TEST(problem_expert, wait_atstart_req_test)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.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());
@@ -302,7 +302,7 @@ TEST(problem_expert, wait_atend_req_test)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.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());
@@ -416,7 +416,7 @@ TEST(problem_expert, at_start_effect_test)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.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());
@@ -535,7 +535,7 @@ TEST(problem_expert, at_end_effect_test)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.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());

diff --git a/plansys2_executor/test/unit/bt_node_test_charging.cpp b/plansys2_executor/test/unit/bt_node_test_charging.cpp
@@ -67,7 +67,7 @@ TEST(problem_expert, wait_atstart_req_test)
   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());
@@ -192,7 +192,7 @@ TEST(problem_expert, apply_atstart_effect_test)
   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());
@@ -319,7 +319,7 @@ TEST(problem_expert, apply_atend_effect_test)
   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());

diff --git a/plansys2_executor/test/unit/execution_tree_test.cpp b/plansys2_executor/test/unit/execution_tree_test.cpp
@@ -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());
@@ -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());
@@ -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());

diff --git a/plansys2_executor/test/unit/executor_test.cpp b/plansys2_executor/test/unit/executor_test.cpp
@@ -225,7 +225,7 @@ TEST(executor, action_executor_client)
   test_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
   aux_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(test_node->get_node_base_interface());
   exe.add_node(aux_node->get_node_base_interface());
@@ -314,7 +314,7 @@ TEST(executor, action_executor)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -641,7 +641,7 @@ TEST(executor, action_real_action_1)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -896,7 +896,7 @@ TEST(executor, action_real_action_2)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1151,7 +1151,7 @@ TEST(executor, cancel_bt_execution)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1353,7 +1353,7 @@ TEST(executor, executor_client_execute_plan)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1503,7 +1503,7 @@ TEST(executor, executor_client_execute_plan_2)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1701,7 +1701,7 @@ TEST(executor, executor_client_ordered_sub_goals)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1844,7 +1844,7 @@ TEST(executor, executor_client_cancel_plan)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());
@@ -1987,7 +1987,7 @@ TEST(executor, action_timeout)
     "action_timeouts.move.duration_overrun_percentage", 1.0);
   executor_node->set_parameter({"action_timeouts.move.duration_overrun_percentage", 1.0});
 
-  rclcpp::executors::SingleThreadedExecutor exe;
+  rclcpp::experimental::executors::EventsExecutor exe;
 
   exe.add_node(domain_node->get_node_base_interface());
   exe.add_node(problem_node->get_node_base_interface());

diff --git a/plansys2_executor/test/unit/simple_btbuilder_tests.cpp b/plansys2_executor/test/unit/simple_btbuilder_tests.cpp
@@ -153,7 +153,7 @@ TEST(simple_btbuilder_tests, test_plan_1)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.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());
@@ -393,7 +393,7 @@ TEST(simple_btbuilder_tests, test_plan_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());
@@ -599,7 +599,7 @@ TEST(simple_btbuilder_tests, test_plan_3)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.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());
@@ -690,7 +690,7 @@ TEST(simple_btbuilder_tests, test_plan_4)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/cooking_domain.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/cooking_domain.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());
@@ -807,7 +807,7 @@ TEST(simple_btbuilder_tests, test_plan_5)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/road_trip_domain.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/road_trip_domain.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());
@@ -919,7 +919,7 @@ TEST(simple_btbuilder_tests, test_plan_6)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/elevator_domain.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/elevator_domain.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());

diff --git a/plansys2_lifecycle_manager/src/lifecycle_manager_node.cpp b/plansys2_lifecycle_manager/src/lifecycle_manager_node.cpp
@@ -37,7 +37,7 @@ int main(int argc, char ** argv)
   manager_nodes["executor"] = std::make_shared<plansys2::LifecycleServiceClient>(
     "executor_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);

diff --git a/plansys2_lifecycle_manager/test/lf_manager_test.cpp b/plansys2_lifecycle_manager/test/lf_manager_test.cpp
@@ -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());
 
@@ -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);

diff --git a/plansys2_planner/test/unit/planner_test.cpp b/plansys2_planner/test/unit/planner_test.cpp
@@ -51,7 +51,7 @@ TEST(planner_expert, generate_plan_good)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.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());
@@ -130,7 +130,7 @@ TEST(planner_expert, generate_plan_with_domain_constants)
   domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_constants.pddl"});
   problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_constants.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());