Add set executor

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Author: wep21

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -130,6 +130,14 @@ class ComponentManager : public rclcpp::Node
   virtual std::shared_ptr<rclcpp_components::NodeFactory>
   create_component_factory(const ComponentResource & resource);
 
+  /// Member function to set a executor in the component
+  /**
+   * \param executor executor to be set
+   */
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual void
+  set_executor(const std::weak_ptr<rclcpp::Executor> executor);
+
 protected:
   /// Create node options for loaded component
   /**

rclcpp_components/src/component_container_mt.cpp

@@ -26,17 +26,14 @@ int main(int argc, char * argv[])
   auto options = rclcpp::NodeOptions{}.start_parameter_event_publisher(false);
   auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
   auto node = std::make_shared<rclcpp_components::ComponentManager>(
-    exec, "ComponentManager", options);
+    std::weak_ptr<rclcpp::executors::MultiThreadedExecutor>(), "ComponentManager", options);
   if (node->has_parameter("thread_num")) {
     const auto thread_num = node->get_parameter("thread_num").as_int();
-    if (thread_num < std::thread::hardware_concurrency()) {
-      exec.reset();
-      node.reset();
-      exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
-        rclcpp::ExecutorOptions{}, thread_num);
-      node = std::make_shared<rclcpp_components::ComponentManager>(
-        exec, "ComponentManager", options);
-    }
+    exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
+      rclcpp::ExecutorOptions{}, thread_num);
+    node->set_executor(exec);
+  } else {
+    node->set_executor(exec);
   }
   exec->add_node(node);
   exec->spin();

rclcpp_components/src/component_manager.cpp

@@ -180,6 +180,12 @@ ComponentManager::create_node_options(const std::shared_ptr<LoadNode::Request> r
   return options;
 }
 
+void
+ComponentManager::set_executor(const std::weak_ptr<rclcpp::Executor> executor)
+{
+  executor_ = executor;
+}
+
 void
 ComponentManager::on_load_node(
   const std::shared_ptr<rmw_request_id_t> request_header,