# The ROS 2 C++ Executors

**URL:** <https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296>\
**Category:** ROS General\
**Tags:** ros2, rclcpp, wg-client-libraries\
**Created:** [June 22, 2024, 6:08pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296 "2024-06-22T18:08:04Z")\
**Posts on this page:** 7\
**Page:** 2

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**Author:** ![JM\_ROS](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jm_ros/32/12964_2.png) [@JM\_ROS](https://discourse.openrobotics.org/u/JM_ROS)\
**Post date:** [September 27, 2024, 2:29pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/21 "2024-09-27T14:29:22Z")

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[https://github.com/cellumation/cm\_executors](https://github.com/cellumation/cm_executors)

The executor package is now online.

The EventsCBGExecutor is tested with our stack and just works without flaws.  
Some benchmark results :

 ![grafik](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/a/7/a7b808b342f7b40b33d159774ee3bed11290f481.png)

 ![grafik](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/0/5/057c54444d89936d18dffbd642063a94919b105b.png)

 ![grafik](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/7/b74530b0f0f0bb9e51eec2b2b5794e5856e116fc.png)

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**Author:** ![mjcarroll](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mjcarroll/32/35469_2.png) [@mjcarroll](https://discourse.openrobotics.org/u/mjcarroll)\
**Post date:** [September 27, 2024, 3:42pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/22 "2024-09-27T15:42:48Z")

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@JM_ROS great work and thanks for the detailed benchmarking.

Looking forward to your talk at ROSCon to hear more about the improvements.

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**Author:** ![JM\_ROS](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jm_ros/32/12964_2.png) [@JM\_ROS](https://discourse.openrobotics.org/u/JM_ROS)\
**Post date:** [September 27, 2024, 5:05pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/23 "2024-09-27T17:05:29Z")

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> [@mjcarroll](#):
>
> Looking forward to your talk at ROSCon to hear more about the improvements.

I’m kind of unsure about one (big) point of the talk. I only have a 10 minute slot, so I can either rush over the internals, and try to give the audience a brief idea of what is going on, or I could focus on the results and drop the internals completely.

I’m unsure of what route to take. Opinions ?

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**Author:** ![tomoyafujita](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tomoyafujita/32/6097_2.png) [@tomoyafujita](https://discourse.openrobotics.org/u/tomoyafujita)\
**Post date:** [September 27, 2024, 6:47pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/24 "2024-09-27T18:47:29Z")

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@JM_ROS

How about [Birds of a Feather](https://roscon.ros.org/2024/#bof)? Or we can gather around after your presentation!

thanks for sharing and contribution for this 👍 👍 👍

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**Author:** ![mjcarroll](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mjcarroll/32/35469_2.png) [@mjcarroll](https://discourse.openrobotics.org/u/mjcarroll)\
**Post date:** [September 27, 2024, 9:19pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/25 "2024-09-27T21:19:02Z")

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I think that anybody who has spent significant amounts of time thinking about executors is probably meeting somewhere where there is beer.

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**Author:** ![alsora](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/alsora/32/2514_2.png) [@alsora](https://discourse.openrobotics.org/u/alsora)\
**Post date:** [September 27, 2024, 11:18pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/26 "2024-09-27T23:18:33Z")

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> [@JM\_ROS](#):
>
> The executor package is now online.

Great job @JM_ROS !  
I started looking at it and it seems very interesting.

Do you have performance comparisons with the `EventsExecutor` currently in `rclcpp` ?

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**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [December 26, 2024, 11:19pm UTC](https://discourse.openrobotics.org/t/the-ros-2-c-executors/38296/27 "2024-12-26T23:19:13Z")

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