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Add 'executor_type' and 'thread_num' to LoadNode #186

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Add 'executor_type' and 'thread_num' to LoadNode #186

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13 changes: 13 additions & 0 deletions composition_interfaces/srv/LoadNode.srv
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Expand Up @@ -28,6 +28,19 @@ rcl_interfaces/Parameter[] parameters

# key/value arguments that are specific to a type of container process.
rcl_interfaces/Parameter[] extra_arguments

# Executor used for this node. Leave empty to share the executor
# used for the ComponentManager. Otherwise, a new executor will
# be used for this node. Options:
# + SingleThreadedExecutor
# + MultiThreadedExecutor
string executor_type
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@fujitatomoya fujitatomoya Feb 23, 2026

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i think this makes more sense to keep this as arbitrary string type if user can configure their own defined executor to the component manager. otherwise, maybe predefined enum would be enough? can we not use EventsExecutor here?

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@armaho armaho Feb 23, 2026 •
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i think this makes more sense to keep this as arbitrary string type if user can configure their own defined executor to the component manager.

User cannot do that. This is the executor used for the node itself, so ComponentContainer itself must be able to construct an object of the specified executor.

otherwise, maybe predefined enum would be enough?

Yeah, sure. I will do that.

can we not use EventsExecutor here?

There's nothing stoping us. I will add that.


# Number of threads dedicated to the executor for this node. This option
# is only valid if you choose MultiThreadedExecutor as the executor type.
# Leave empty to use the default.
uint8 thread_num
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@fujitatomoya fujitatomoya Feb 23, 2026

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what is the default thread number for MultiThreadedExecutor? hardware thread num?

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@armaho armaho Feb 23, 2026

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yes. I will specify that.


---
# True if the node was successfully loaded.
bool success
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