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Avoid unecessary creation of MultiThreadedExecutor (backport #3090)#3094

Merged
ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-3090
Mar 13, 2026
Merged

Avoid unecessary creation of MultiThreadedExecutor (backport #3090)#3094
ahcorde merged 1 commit intokiltedfrom
mergify/bp/kilted/pr-3090

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@mergify mergify bot commented Mar 12, 2026

Description

Avoids the unecessary creation of a MultiThreadedExecutor in the component_container_mt node.

The overhead of creating an unecessary MultiThreadedExecutor here is quite minimal, but there is some amount of overhead due to Executor's constructor.
I just noticed this and thought I'd contribute this, even though quite minor.

Also, I added const to node, as afaik there's no reason not to here.

Is this user-facing behavior change?

No.

Did you use Generative AI?

No. I don't use slop bots.


This is an automatic backport of pull request #3090 done by [Mergify](https://mergify.com).

Signed-off-by: solonovamax <solonovamax@12oclockpoint.com>
(cherry picked from commit 8cd4d47)
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fujitatomoya commented Mar 12, 2026

Pulls: #3094
Gist: https://gist.githubusercontent.com/fujitatomoya/18ff09dc0e9b7cf04cdfd780ceb54143/raw/2ad0779c8908f154d7cbad45347f7d7f64932ab3/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp_components
TEST args: --packages-above rclcpp_components
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18454

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@ahcorde ahcorde merged commit bace534 into kilted Mar 13, 2026
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@ahcorde ahcorde deleted the mergify/bp/kilted/pr-3090 branch March 13, 2026 14:16
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3 participants