EventsExecutor doesn't support rcl guard conditions
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- Dominant language
- C++
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Description
Bug report
The EventsExecutor currently doesn't handle guard conditions managed in rcl.
An example is the graph guard condition.
The EventsExecutor won't receive events from these entities (note that rclcpp::GuardConditions will still work).
Waitables that rely on them won't execute.
Additional information
We should either have rclcpp only deal with rclcpp::GuardCondition by wrapping them or propagate some callbacks from rclcpp down to the rmw to receive events.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with the EventsExecutor handling of rcl-managed guard conditions and compare it with the existing rclcpp::GuardCondition path. Reproduce the graph guard condition case and verify that EventsExecutor receives the event and executes waitables that rely on it; the issue leaves the implementation approach open.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100