executors-and-callbacks
CommunityMaster ROS 2 executors and concurrency patterns.
System Documentation
What problem does it solve?
ROS 2 applications often struggle with concurrency and correct threading when using multiple executors and callback groups. This Skill provides expert guidance on selecting and configuring SingleThreadedExecutor, MultiThreadedExecutor, and StaticSingleThreadedExecutor, as well as MutuallyExclusive and Reentrant callback groups to ensure safe and efficient execution.
Core Features & Use Cases
- Guidance on choosing the right executor type for a given workload (single-threaded, multi-threaded, or fixed-thread patterns).
- Clear patterns for using MutuallyExclusiveCallbackGroup and ReentrantCallbackGroup to control concurrency across callbacks.
- Practical examples covering spinning patterns, multiple nodes per executor, and safety considerations for Python GIL and thread safety in ROS 2.
- Real-world scenarios illustrating when to isolate service calls, timers, and shared state for thread-safe behavior.
Quick Start
Install or reference a ROS 2 project, then specify the desired executor type and callback groups in your node setup to ensure correct concurrency behavior.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: executors-and-callbacks Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#executors-and-callbacks Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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