Set the minimum number of threads of the Multithreaded executor to 2 (r…

…os2#2030) * Set the minimum number of threads of the Multithreaded executor to 2 Signed-off-by: Alexis Paques <[email protected]>
irobot-ros · Oct 25, 2022 · 85c0af4 · 85c0af4
1 parent 2d32d03
commit 85c0af4
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp b/rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
@@ -21,6 +21,7 @@
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/logging.hpp"
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::executors::MultiThreadedExecutor;
@@ -34,9 +35,15 @@ MultiThreadedExecutor::MultiThreadedExecutor(
  yield_before_execute_(yield_before_execute),
  next_exec_timeout_(next_exec_timeout)
 {
- number_of_threads_ = number_of_threads ? number_of_threads : std::thread::hardware_concurrency();
- if (number_of_threads_ == 0) {
- number_of_threads_ = 1;
+ number_of_threads_ = number_of_threads > 0 ?
+ number_of_threads :
+ std::max(std::thread::hardware_concurrency(), 2U);
+
+ if (number_of_threads_ == 1) {
+ RCLCPP_WARN(
+ rclcpp::get_logger("rclcpp"),
+ "MultiThreadedExecutor is used with a single thread.\n"
+ "Use the SingleThreadedExecutor instead.");
  }
 }