Change ROSPlotting to use a SingleThreadedExecutor

tesseract-robotics · Jul 12, 2024 · 8dd7d55 · 8dd7d55
1 parent b9aa22c
commit 8dd7d55
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/tesseract_rosutils/include/tesseract_rosutils/plotting.h b/tesseract_rosutils/include/tesseract_rosutils/plotting.h
@@ -136,7 +136,7 @@ class ROSPlotting : public tesseract_visualization::Visualization
   std::string topic_namespace_; /**< Namespace used when publishing markers */
   int marker_counter_{ 0 };     /**< Counter when plotting */
   rclcpp::Node::SharedPtr internal_node_;
-  rclcpp::executors::MultiThreadedExecutor::SharedPtr internal_node_executor_;
+  rclcpp::executors::SingleThreadedExecutor::SharedPtr internal_node_executor_;
   std::shared_ptr<std::thread> internal_node_spinner_;
   rclcpp::Publisher<tesseract_msgs::msg::SceneGraph>::SharedPtr scene_pub_;           /**< Scene publisher */
   rclcpp::Publisher<tesseract_msgs::msg::Trajectory>::SharedPtr trajectory_pub_;      /**< Trajectory publisher */

diff --git a/tesseract_rosutils/src/plotting.cpp b/tesseract_rosutils/src/plotting.cpp
@@ -71,7 +71,7 @@ ROSPlotting::ROSPlotting(std::string root_link, std::string topic_namespace)
                                                                                                              "path",
                                                                                           1);
 
-  internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  internal_node_executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
   internal_node_spinner_ = std::make_shared<std::thread>([this]() {
     internal_node_executor_->add_node(internal_node_);
     internal_node_executor_->spin();