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fix: dirty #20

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Merged
sykwer merged 2 commits into from
Nov 12, 2025
Merged

fix: dirty #20

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0c06414
fix: dirty
atsushi421 Nov 11, 2025
83132c1
fix
atsushi421 Nov 12, 2025
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6 changes: 3 additions & 3 deletions callback_isolated_executor/src/component_container_callback_isolated.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ class ComponentManagerCallbackIsolated
node_id_to_executor_wrappers_;
rclcpp::Publisher<cie_config_msgs::msg::CallbackGroupInfo>::SharedPtr
client_publisher_;
std::mutex client_publisher_mutex_;
};

ComponentManagerCallbackIsolated::~ComponentManagerCallbackIsolated() {
Expand Down Expand Up @@ -141,9 +142,8 @@ void ComponentManagerCallbackIsolated::add_node_to_executor(uint64_t node_id) {
std::thread([&executor_wrapper, group_id, this]() {
auto tid = syscall(SYS_gettid);

// dirty
for (int i = 0; i < 3; i++) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
{
std::lock_guard<std::mutex> lock(this->client_publisher_mutex_);
cie_thread_configurator::publish_callback_group_info(
this->client_publisher_, tid, group_id);
}
Expand Down