ROS2 "State of the Events Executors" - Benchmark comparison between rclcpp::experimental::EventsExecutor and cm_executors::EventsCBGExecutor

tomoyafujita · September 30, 2025, 5:39am

thank you very much for sharing benchmark information

i do not have any objections about this, just checking. (since it becomes really hard for me to join, cz i got back to Tokyo…)

> the client library working group has been planning to mainstream an EventsExecutor implementation as the new default executor in rclcpp.

what is that supposed to mean by `default`?

basically Executors are the class that user application choose to run?

do you guys mean that,

github.com/ros2/rclcpp

rclcpp/src/rclcpp/executors.cpp

aa60fcf22


      
            options.context = node_ptr->get_context();
            rclcpp::executors::SingleThreadedExecutor exec(options);
            exec.spin_node_some(node_ptr);
          }
          
          void
          rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
          {
            rclcpp::ExecutorOptions options;
            options.context = node_ptr->get_context();
            rclcpp::executors::SingleThreadedExecutor exec(options);
            exec.add_node(node_ptr);
            exec.spin();
            exec.remove_node(node_ptr);
          }
          
          void
          rclcpp::spin(rclcpp::Node::SharedPtr node_ptr)
          {
            rclcpp::spin(node_ptr->get_node_base_interface());
          }

is going to be replaced into `EventsExecutor`?

aside from performance benchmark, this will be huge behavior change for user who rely on the current queue management in rmw implementation. probably we would want to make an announcement about that before the change…

tomoya,

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ROS2 "State of the Events Executors" - Benchmark comparison between rclcpp::experimental::EventsExecutor and cm_executors::EventsCBGExecutor

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