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add explanation about component container types and options #4901

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fujitatomoya opened this issue Dec 13, 2024 · 4 comments · May be fixed by #4902
Open

add explanation about component container types and options #4901

fujitatomoya opened this issue Dec 13, 2024 · 4 comments · May be fixed by #4902

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@fujitatomoya
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found on ros2/rclcpp#2541 (comment), it is really hard for user to know the component container options.

we could add the following to the documentation, https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Composition.html

  • general explanation about component container, which is the node that loads/unloads the components and execute them.
  • component container types and options, such as component_container, component_container_mt with parameter thread_num, and component_container_isolated with --use_multi_threaded_executor option.
@fujitatomoya
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@clalancette @christophebedard @ahcorde what do you think?

@christophebedard
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it should absolutely be documented, but maybe in a tutorial rather than a concepts article? I think this is the only composition tutorial: https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html

@clalancette
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it should absolutely be documented, but maybe in a tutorial rather than a concepts article? I think this is the only composition tutorial: https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html

Yeah, agreed. The general explanation about the component container can go into the Concepts, but then I think we should expand the tutorial instead.

@christophebedard
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The first bullet point in this section of the composition concepts article does mention "generic container process" and links to component_container.cpp: https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Composition.html#using-components. We could just briefly mention here that there are other containers and link to the tutorial.

In the tutorial, component_container is used. We could add a new subsection under Advanced Topics to list the other containers and their options: https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html#advanced-topics.

@fujitatomoya fujitatomoya linked a pull request Dec 13, 2024 that will close this issue
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3 participants