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Maintenance rolling #332

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merged 7 commits into from
Nov 5, 2024
Merged

Maintenance rolling #332

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2a694a4
Change to EventsExecutor
fmrico Nov 5, 2024
5140b1e
Change to EventsExecutor
fmrico Nov 5, 2024
3e00e6b
Fix bug in xml tree
fmrico Nov 5, 2024
f9faf47
Check if action_map_ is null or don't exists
fmrico Nov 5, 2024
86329cc
linting
fmrico Nov 5, 2024
4d8e61c
Change headers to .hpp
fmrico Nov 5, 2024
645f44a
Change to EventsExecutor
fmrico Nov 5, 2024
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2 changes: 1 addition & 1 deletion plansys2_bringup/src/plansys2_node.cpp
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Expand Up @@ -32,7 +32,7 @@ int main(int argc, char ** argv)

rclcpp::init(argc, argv);

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

auto domain_node = std::make_shared<plansys2::DomainExpertNode>();
auto problem_node = std::make_shared<plansys2::ProblemExpertNode>();
Expand Down
2 changes: 1 addition & 1 deletion plansys2_bt_actions/include/plansys2_bt_actions/BTActionNode.hpp
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Expand Up @@ -350,7 +350,7 @@ class BtActionNode : public BT::ActionNodeBase
};
send_goal_options.feedback_callback =
[this](typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr,
const std::shared_ptr<const typename ActionT::Feedback> feedback) {
const std::shared_ptr<const typename ActionT::Feedback> feedback) {
on_feedback(feedback);
};

Expand Down
2 changes: 1 addition & 1 deletion plansys2_bt_actions/test/behavior_tree/transport.xml
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@@ -1,7 +1,7 @@
<root BTCPP_format="4" main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Sequence name="root_sequence">
<Move name="move" goal="${arg2}" goal_reached="${goal_reached}"/>
<Move name="move" goal="{arg2}" goal_reached="{goal_reached}"/>
<OpenGripper name="open_gripper"/>
<CloseGripper name="close_gripper"/>
</Sequence>
Expand Down
4 changes: 2 additions & 2 deletions plansys2_bt_actions/test/unit/bt_action_test.cpp
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Expand Up @@ -245,7 +245,7 @@ TEST(bt_actions, bt_action)

bt_action->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);

rclcpp::executors::MultiThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;
exe.add_node(bt_action->get_node_base_interface());
exe.add_node(lc_node->get_node_base_interface());

Expand Down Expand Up @@ -282,7 +282,7 @@ TEST(bt_actions, cancel_bt_action)

bt_action->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);

rclcpp::executors::MultiThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;
exe.add_node(bt_action->get_node_base_interface());
exe.add_node(lc_node->get_node_base_interface());

Expand Down
2 changes: 1 addition & 1 deletion plansys2_domain_expert/src/domain_expert_node.cpp
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Expand Up @@ -22,7 +22,7 @@ int main(int argc, char ** argv)
rclcpp::init(argc, argv);
auto node = std::make_shared<plansys2::DomainExpertNode>();

rclcpp::executors::MultiThreadedExecutor executor;
rclcpp::experimental::executors::EventsExecutor executor;
executor.add_node(node->get_node_base_interface());
executor.spin();
executor.remove_node(node->get_node_base_interface());
Expand Down
4 changes: 2 additions & 2 deletions plansys2_domain_expert/test/unit/domain_expert_node_test.cpp
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Expand Up @@ -38,7 +38,7 @@ TEST(domain_expert, lifecycle)
std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_domain_expert");

domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.pddl"});
rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());

Expand Down Expand Up @@ -105,7 +105,7 @@ TEST(domain_expert, lifecycle_error)
std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_domain_expert");

domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_2_error.pddl"});
rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());

Expand Down
2 changes: 1 addition & 1 deletion plansys2_executor/src/plansys2_executor/ComputeBT.cpp
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Expand Up @@ -219,7 +219,7 @@ ComputeBT::computeBTCallback(
domain_node_->set_parameter({"model_file", domain_filename});
problem_node_->set_parameter({"model_file", domain_filename});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node_->get_node_base_interface());
exe.add_node(problem_node_->get_node_base_interface());
Expand Down
4 changes: 4 additions & 0 deletions plansys2_executor/src/plansys2_executor/behavior_tree/execute_action_node.cpp
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Expand Up @@ -41,6 +41,10 @@ ExecuteAction::halt()
size_t delim = action.find(":");
auto action_expr = action.substr(0, delim);

if (action_map_ == nullptr || (*action_map_)[action].action_executor == nullptr) {
return;
}

if ((*action_map_)[action].action_executor->get_status() == BT::NodeStatus::RUNNING) {
(*action_map_)[action].action_executor->cancel();
}
Expand Down
4 changes: 2 additions & 2 deletions plansys2_executor/test/unit/action_execution_test.cpp
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Expand Up @@ -125,7 +125,7 @@ TEST(action_execution, protocol_basic)

move_action_node->set_parameter({"action_name", "move"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(test_node);
exe.add_node(test_lf_node->get_node_base_interface());
Expand Down Expand Up @@ -240,7 +240,7 @@ TEST(action_execution, protocol_cancelation)

move_action_node->set_parameter({"action_name", "move"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(test_node);
exe.add_node(test_lf_node->get_node_base_interface());
Expand Down
10 changes: 5 additions & 5 deletions plansys2_executor/test/unit/bt_node_test.cpp
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Expand Up @@ -72,7 +72,7 @@ TEST(problem_expert, wait_overall_req_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -186,7 +186,7 @@ TEST(problem_expert, wait_atstart_req_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -302,7 +302,7 @@ TEST(problem_expert, wait_atend_req_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -416,7 +416,7 @@ TEST(problem_expert, at_start_effect_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -535,7 +535,7 @@ TEST(problem_expert, at_end_effect_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down
6 changes: 3 additions & 3 deletions plansys2_executor/test/unit/bt_node_test_charging.cpp
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Expand Up @@ -67,7 +67,7 @@ TEST(problem_expert, wait_atstart_req_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -192,7 +192,7 @@ TEST(problem_expert, apply_atstart_effect_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -319,7 +319,7 @@ TEST(problem_expert, apply_atend_effect_test)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down
6 changes: 3 additions & 3 deletions plansys2_executor/test/unit/execution_tree_test.cpp
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Expand Up @@ -51,7 +51,7 @@ TEST(executiotest_noden_tree, bt_builder_factory)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -192,7 +192,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_2)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -332,7 +332,7 @@ TEST(executiotest_noden_tree, bt_builder_factory_3)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down
20 changes: 10 additions & 10 deletions plansys2_executor/test/unit/executor_test.cpp
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Expand Up @@ -225,7 +225,7 @@ TEST(executor, action_executor_client)
test_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
aux_node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(test_node->get_node_base_interface());
exe.add_node(aux_node->get_node_base_interface());
Expand Down Expand Up @@ -314,7 +314,7 @@ TEST(executor, action_executor)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -641,7 +641,7 @@ TEST(executor, action_real_action_1)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -896,7 +896,7 @@ TEST(executor, action_real_action_2)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1151,7 +1151,7 @@ TEST(executor, cancel_bt_execution)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1353,7 +1353,7 @@ TEST(executor, executor_client_execute_plan)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1503,7 +1503,7 @@ TEST(executor, executor_client_execute_plan_2)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory4.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1701,7 +1701,7 @@ TEST(executor, executor_client_ordered_sub_goals)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_charging.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1844,7 +1844,7 @@ TEST(executor, executor_client_cancel_plan)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory3.pddl"});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -1987,7 +1987,7 @@ TEST(executor, action_timeout)
"action_timeouts.move.duration_overrun_percentage", 1.0);
executor_node->set_parameter({"action_timeouts.move.duration_overrun_percentage", 1.0});

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down
12 changes: 6 additions & 6 deletions plansys2_executor/test/unit/simple_btbuilder_tests.cpp
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Expand Up @@ -153,7 +153,7 @@ TEST(simple_btbuilder_tests, test_plan_1)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -393,7 +393,7 @@ TEST(simple_btbuilder_tests, test_plan_2)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/factory.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -599,7 +599,7 @@ TEST(simple_btbuilder_tests, test_plan_3)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_2.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -690,7 +690,7 @@ TEST(simple_btbuilder_tests, test_plan_4)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/cooking_domain.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/cooking_domain.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -807,7 +807,7 @@ TEST(simple_btbuilder_tests, test_plan_5)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/road_trip_domain.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/road_trip_domain.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -919,7 +919,7 @@ TEST(simple_btbuilder_tests, test_plan_6)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/elevator_domain.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/elevator_domain.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down
2 changes: 1 addition & 1 deletion plansys2_lifecycle_manager/src/lifecycle_manager_node.cpp
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Expand Up @@ -37,7 +37,7 @@ int main(int argc, char ** argv)
manager_nodes["executor"] = std::make_shared<plansys2::LifecycleServiceClient>(
"executor_lc_mngr", "executor");

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;
for (auto & manager_node : manager_nodes) {
manager_node.second->init();
exe.add_node(manager_node.second);
Expand Down
4 changes: 2 additions & 2 deletions plansys2_lifecycle_manager/test/lf_manager_test.cpp
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Expand Up @@ -33,7 +33,7 @@ TEST(lifecycle_manager, lf_client)
auto test_node = rclcpp_lifecycle::LifecycleNode::make_shared("test");
auto client_node = std::make_shared<plansys2::LifecycleServiceClient>("mng_client", "test");

auto exe = rclcpp::executors::SingleThreadedExecutor::make_shared();
auto exe = rclcpp::experimental::executors::EventsExecutor::make_shared();
exe->add_node(test_node->get_node_base_interface());
exe->add_node(client_node->get_node_base_interface());

Expand Down Expand Up @@ -97,7 +97,7 @@ TEST(lifecycle_manager, lf_startup)
manager_nodes["executor"] = std::make_shared<plansys2::LifecycleServiceClient>(
"domain_expert_lc_mngr", "executor");

rclcpp::executors::SingleThreadedExecutor exe;
rclcpp::experimental::executors::EventsExecutor exe;
for (auto & manager_node : manager_nodes) {
manager_node.second->init();
exe.add_node(manager_node.second);
Expand Down
4 changes: 2 additions & 2 deletions plansys2_planner/test/unit/planner_test.cpp
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Expand Up @@ -51,7 +51,7 @@ TEST(planner_expert, generate_plan_good)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
Expand Down Expand Up @@ -130,7 +130,7 @@ TEST(planner_expert, generate_plan_with_domain_constants)
domain_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_constants.pddl"});
problem_node->set_parameter({"model_file", pkgpath + "/pddl/domain_simple_constants.pddl"});

rclcpp::executors::MultiThreadedExecutor exe(rclcpp::ExecutorOptions(), 8);
rclcpp::experimental::executors::EventsExecutor exe;

exe.add_node(domain_node->get_node_base_interface());
exe.add_node(problem_node->get_node_base_interface());
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