Reduce lifecycle manager nodes

nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager.hpp

@@ -18,11 +18,11 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <thread>
 #include <unordered_map>
 #include <vector>
 
 #include "nav2_util/lifecycle_service_client.hpp"
-#include "nav2_util/node_thread.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "std_srvs/srv/empty.hpp"
 #include "nav2_msgs/srv/manage_lifecycle_nodes.hpp"
@@ -52,9 +52,10 @@ class LifecycleManager : public rclcpp::Node
   ~LifecycleManager();
 
 protected:
-  // The ROS node to create bond
-  rclcpp::Node::SharedPtr bond_client_node_;
-  std::unique_ptr<nav2_util::NodeThread> bond_node_thread_;
+  // Callback group used by services and timers
+  rclcpp::CallbackGroup::SharedPtr callback_group_;
+  rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
+  std::thread callback_group_executor_thread_;
 
   // The services provided by this node
   rclcpp::Service<ManageLifecycleNodes>::SharedPtr manager_srv_;

nav2_lifecycle_manager/src/lifecycle_manager.cpp

@@ -49,18 +49,18 @@ LifecycleManager::LifecycleManager()
   bond_timeout_ = std::chrono::duration_cast<std::chrono::milliseconds>(
     std::chrono::duration<double>(bond_timeout_s));
 
+  callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   manager_srv_ = create_service<ManageLifecycleNodes>(
     get_name() + std::string("/manage_nodes"),
-    std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3));
+    std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3),
+    rmw_qos_profile_services_default,
+    callback_group_);
 
   is_active_srv_ = create_service<std_srvs::srv::Trigger>(
     get_name() + std::string("/is_active"),
-    std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3));
-
-  auto bond_options = rclcpp::NodeOptions().arguments(
-    {"--ros-args", "-r", std::string("__node:=") + get_name() + "_bond_client", "--"});
-  bond_client_node_ = std::make_shared<rclcpp::Node>("_", bond_options);
-  bond_node_thread_ = std::make_unique<nav2_util::NodeThread>(bond_client_node_);
+    std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3),
+    rmw_qos_profile_services_default,
+    callback_group_);
 
   transition_state_map_[Transition::TRANSITION_CONFIGURE] = State::PRIMARY_STATE_INACTIVE;
   transition_state_map_[Transition::TRANSITION_CLEANUP] = State::PRIMARY_STATE_UNCONFIGURED;
@@ -84,12 +84,20 @@ LifecycleManager::LifecycleManager()
       if (autostart_) {
         startup();
       }
-    });
+    },
+    callback_group_);
+
+  callback_group_executor_thread_ = std::thread([this]() {
+    callback_group_executor_.add_callback_group(callback_group_, this->get_node_base_interface());
+    callback_group_executor_.spin();
+  });
 }
 
 LifecycleManager::~LifecycleManager()
 {
   RCLCPP_INFO(get_logger(), "Destroying %s", get_name());
+  callback_group_executor_.cancel();
+  callback_group_executor_thread_.join();
 }
 
 void
@@ -154,7 +162,7 @@ LifecycleManager::createBondConnection(const std::string & node_name)
 
   if (bond_map_.find(node_name) == bond_map_.end() && bond_timeout_.count() > 0.0) {
     bond_map_[node_name] =
-      std::make_shared<bond::Bond>("bond", node_name, bond_client_node_);
+      std::make_shared<bond::Bond>("bond", node_name, shared_from_this());
     bond_map_[node_name]->setHeartbeatTimeout(timeout_s);
     bond_map_[node_name]->setHeartbeatPeriod(0.10);
     bond_map_[node_name]->start();
@@ -317,7 +325,8 @@ LifecycleManager::createBondTimer()
 
   bond_timer_ = this->create_wall_timer(
     200ms,
-    std::bind(&LifecycleManager::checkBondConnections, this));
+    std::bind(&LifecycleManager::checkBondConnections, this),
+    callback_group_);
 }
 
 void

nav2_lifecycle_manager/src/main.cpp

@@ -21,7 +21,7 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<nav2_lifecycle_manager::LifecycleManager>();
-  rclcpp::spin(node->get_node_base_interface());
+  rclcpp::spin(node);
   rclcpp::shutdown();
 
   return 0;