making the code simpler and easier to understand. The non-callback functions in a ROS 2 system are found mainly at Now, lets test our callback. in parallel to one another, register them to. This method will be used as the callback. This function also starts and ends the experiment for a duration of 10 seconds and prints out the throughput and round trip time (RTT) statistics. To burn the specified number of CPU cycles, the PongNode class contains a function burn_cpu_cycles(duration) to simulate a given processing time before replying with a pong. The callback group can then be passed as argument/option when creating a subscription, timer, etc. the done-callback never gets to execute. Advertisement cookies are used to provide visitors with relevant ads and marketing campaigns. want the callbacks to not overlap themselves or also need thread Other uncategorized cookies are those that are being analyzed and have not been classified into a category as yet. Please start posting anonymously - your entry will be published after you log in or create a new account. be executed parallel to each other. visible to the user. The stuck timer callback also blocks any other executions of itself, so the calls can also be made to work. Indeed, even the API documentation of ROS 2 mentions that Mutually Exclusive Callback Group. Check out Learn ROS2 as a ROS1 Developer and Migrate Your ROS Projects. repeatedly and service calls are completed. For example, all critical callbacks may be handled by an Executor instance based on an thread running at the highest scheduler priority. Now we know whats inside the parameters array. This page is meant as a guide on how to use callback groups efficiently. But here Im going to show you some common use cases, tips, and best practices so you can get an idea of how to best use the callback. You can simply check for each param youve declared (using the params name). <>>> It is assumed that the reader has a basic understanding synchronous call. Mutually Exclusive Callback Group. 4 0 obj This makes sense, but it is unclear to me how I can use a CallbackGroup instance to add a callback event to be processed. | privacy. I believe you understand the way we intended for it to work. As you use SetParameterResult, you need to import it from rcl_interfaces.msg. We have two nodes - one providing a simple service: and another containing a client to the service along with a timer for making subscription callbacks (receiving and handling data from a topic). Example of a typical output - note the zero pongs received on the low prio path: Note: On Linux, the two Executor threads, which are both scheduled under SCHED_FIFO, can consume only 95% of the CPU time due to RT throttling. execution for different callbacks, and can even be more desirable than simply If yes, subscribe to receive exclusive content and special offers! For example, if one assigns a callback group to an action client, all callbacks created by the client will be assigned to that callback group. In short: Mutually Exclusive Callback Group prevents its callbacks from being If the above configuration is not possible due to other requirements - such There is potentially a hack to create another node and add things to it. endobj timer, etc., this entity will be assigned to the nodes default callback group. Functional cookies help to perform certain functionalities like sharing the content of the website on social media platforms, collect feedbacks, and other third-party features. 1 0 obj Even if youve checked the type, the value you receive might not be correct for your application. Well, the rclpy parameter callback is what you need to use. Setting up callback groups of a node incorrectly can lead to deadlocks (or in terminals, we get the following outputs. Necessary cookies are absolutely essential for the website to function properly. The cookie is set by GDPR cookie consent to record the user consent for the cookies in the category "Functional". This concept was developed in 2018 and has been integrated in ROS 2 mainline in 2020, i.e., is available from ROS 2 Galactic on. In the main function, these two groups are distributed to two Executor instances and threads. GitHub - ros2/examples: Example packages for ROS2 ros2 / examples Public Notifications Fork 234 Star 421 rolling 15 branches 50 tags Code audrow [rolling] Update maintainers - 2022-11-07 ( #352) fee0b7f 23 days ago 519 commits Failed to load latest commit information. to different callback groups. In addition to the mentioned timer and subscriptions, the PingNode class provides a function print_statistics() to print statistics on the number of sent and received messages on each path and the average round trip times. (rclcpp callback parameter version for Cpp). Callback groups can be created by a node's create_callback_group function in rclcpp and by calling the constructor of the group in rclpy. were executed by a SingleThreadedExecutor. Check out ROS2 For Beginners and learn ROS2 in 1 week. services or actions. Improve scheduling configuration of examples_rclcpp_cbg_executor safety with respect to some other callbacks) An example of such a case would be making a synchronous service call Here we have modified only one param so we get only one. Assume that that is the one pointing to a wall. Before sending a reply, it burns a configurable number of CPU cycles (thereby varying the processor load) to simulate some message processing. So, in the callback function, youll receive an array of all modified parameters. function in rclcpp and by calling the constructor of the group in rclpy. each service call gets the result as it should: One might consider if just avoiding the nodes default callback group Callback-group-level Executor for ROS 2 Ralph.Lange@de.bosch.com Thus, the following configuration also leads to the previously Now, lets make a small experiment. When the node is killed and goes out of scope, the parameters callback is automatically removed. These cookies track visitors across websites and collect information to provide customized ads. via Node.default_callback_group in rclpy. the client always gets a response and prints Received response. In this tutorial I will show you how to implement a rclpy parameter callback, and give you some best practices. different Mutually Exclusive Callback Groups (this option is good if you expected outcome is that the service gets called once a second, So, set a flag inside the callback, and check for that flag in another thread, so you can execute the action and not block the callback thread. If you receive 256.8 instead, well, this is still a correct value because the type (double) is accepted. This is the case especially with any kind of synchronous call to a But because this done-callback and the timer callback are in the For 10 different applications you have 10 different ways of processing the data. This website uses cookies to improve your experience while you navigate through the website. 0) and thus share its processing power, but with different scheduler priorities following the names high and low. `6rK 2$z}uDf-/6(7zw4[nrTsJT%(H:u326%VYz_Oy> And finally, to register the callback, use the add_on_set_parameters_callback(callback) method directly on the node object, using self. % timer does not fire for a second time. wait on the future object to simulate the effect of a about the concept of executors. by a Single-Threaded Executor, even if a multi-threaded one is specified! subscription, client etc., any callbacks created then or later by these of the service call to be available. the groups callbacks in any way the it sees fit, without restrictions. callback groups of the service client and the timer. The parameter battery_percentage_warning has changed, but in the code, the value inside the self.battery_percentage_warning_ attribute is still the old one! Examples of callbacks in this context are. The default callback group is a Mutually Exclusive Callback Group and it can be Out of these, the cookies that are categorized as necessary are stored on your browser as they are essential for the working of basic functionalities of the website. Here's a small description of each: The publisher publishes data every 5 seconds on topic /topic_bool. following guidelines. It does not store any personal data. (if you were using ROS1 before, this is the same as dynamic_reconfigure, but better). This is not the case: replacing the default group by a synchronous call method similar to the one in rclpy, so we Reentrant Callback Group allows the executor to schedule and execute You are then free to do anything you want from this information: modify variables inside your code, do some actions, or even ignore the info. In fact, the exact condition with which everything works in this case But we'd want to get rid of that as soon as #519 above is resolved. Python version) whose done-callback needs to execute for the result rclcpp callback parameter version for Cpp, What happens if you change a parameter with no callback, Testing get all modified params and print them, how to declare and get parameters with rclpy. Great! So, as a best practice, always check the type of parameters in your parameters callbacks. service or an action (in rclpy). queried via NodeBaseInterface::get_default_callback_group() in rclcpp and because it can lead to deadlocks. This cookie is set by GDPR Cookie Consent plugin. The Ping Node sends ping messages on both paths simultaneously at a configurable rate. The Ping Node and Pong Node may be either started in one process or in two processes. As a ROS1 developer? several action calls in parallel to each other. After youve processed the parameter array, youll have to return a SetParameterResult message, containing a boolean flag. You're reading the documentation for an older, but still supported, version of ROS 2. endobj endobj Callback Group, that node essentially acts as if it was handled With the default setting above (both being nullptr / None), Define custom messages in python package (ROS2), Incorrect Security Information - Docker GUI. produce the desired outcome where the timer fires x[k0e+sNaul..jW+_m)My4jAp o#l&) \5,#zxe[gLk`[z GXRJfStAn`w`] bzR*5"Mr $1 #Fwhb+r 30,z y!fU$@"jN9ml5P80EsZJ/HIVW4K@9 <> If the user does not specify any other callback group when creating a timer, This makes sense, but it is unclear to me how I can use a CallbackGroup instance to add a callback event to be processed. In this example weve decided that we can accept both double and integer numbers for the battery_percentage_warning_ attribute. Heres an example where we validate the type (and sometimes data) for each parameter weve declared. (, Support for cbg_executor package on QNX The cookie is used to store the user consent for the cookies in the category "Other. And here you can see that if we dont get a correct type, we return the result successful=False. On terminal 2, change a parameters value. critical and non-thread-safe resources. to be as follows (everything else shall stay the same): Now we get the expected result, i.e. Both threads are pinned to the same CPU (No. When running a node in a Multi-Threaded Executor, [INFO] [1653067523.431731177] [client_node]: Starting client node, shut down with CTRL-C, [INFO] [1653067524.431912821] [client_node]: Sending request, [INFO] [1653067524.433230445] [client_node]: Received response, [INFO] [1653067525.431869330] [client_node]: Sending request, [INFO] [1653067525.432912803] [client_node]: Received response, [INFO] [1653067526.431844726] [client_node]: Sending request, [INFO] [1653067526.432893954] [client_node]: Received response, [INFO] [1653067527.431828287] [client_node]: Sending request, [INFO] [1653067527.432848369] [client_node]: Received response. Failed to get question list, you can ticket an issue here, a community-maintained index of robotics software %PDF-1.5 But opting out of some of these cookies may affect your browsing experience. Learn ROS2 as a ROS1 Developer and Migrate Your ROS Projects. If the user does not specify any callback group when creating a subscription, The demo comprises a Ping Node and a Pong Node which exchange messages on two communication paths simultaneously. [INFO] [1653067522.052866001] [service_node]: Starting server node, shut down with CTRL-C. [INFO] [1653067524.432577720] [service_node]: Received request, responding [INFO] [1653067525.432365009] [service_node]: Received request, responding [INFO] [1653067526.432300261] [service_node]: Received request, responding [INFO] [1653067527.432272441] [service_node]: Received request, responding ^C[INFO] [1653034416.021962246] [service_node]: KeyboardInterrupt, shutting down. By clicking Accept All, you consent to the use of ALL the cookies. When running the demo on Linux without sudo privileges, a warning is shown but the execution is not stopped. different ways. from the user/developer API. That is, the execution stopped at a deadlock! In order to control execution with callback groups, one can consider the We only return succcessful=True if the type matches what we expect. scheduling and execution is handled by an executor. This will be up to you to decide if things were successful or not. Now, your parameters callback function looks good and you can update your parameters in a safe way. We use cookies on our website to give you the most relevant experience by remembering your preferences and repeat visits. You wont get any error by doing this. Below are a couple important points about callbacks that should be kept different Mutually Exclusive group changes nothing. So, it turns out that instead of the service being called repeatedly, I am looking at porting tf2_ros/include/message_filter.h from ROS1 to ROS2 (see issue: https://github.com/ros2/geometry2/iss 2). Unfortunately at the moment the API is not completely there for how we'd like it to work. or different callback groups of any type (choose the types according <> If you want to easily check what you receive in the callback, you can simply print all parameters using: What youll get is an array of rclpy Parameter objects. to other criteria). Rotate the robot until the front of the robot is facing the wall. With a parameters callback you can make sure your rclcpp node is notified of any change and can update its values/take some actions accordingly. So, you will modify the parameters value, and in the callback, youll probably want to restart the camera initialization sequence. other unwanted behavior), especially if one desires to use synchronous calls to battery_percentage_warning (float, could also be int), type_ (pay attention to the additional underscore). executed concurrently. The examples_rclcpp_cbg_executor package provides a demo and test bench for the Callback-group-level Executor concept. Using parameters in ROS2 is a great way to change a nodes configuration at run time. The following demo code considers calling a service synchronously in a timer NodeBaseInterface::get_default_callback_group(), "Starting server node, shut down with CTRL-C", // timeout to guarantee a graceful finish, "Starting client node, shut down with CTRL-C", 'Beginning client, shut down with CTRL-C', [INFO] [1653034371.758739131] [client_node]: Starting client node, shut down with CTRL-C, [INFO] [1653034372.755865649] [client_node]: Sending request. Make sure to validate both the type and the value from any parameter before you modify a variable or class attribute. as thread-safety and/or blocking of other callbacks while waiting for the Please note that on Linux the demo requires sudo privileges to be able to change the thread priorities using pthread_setschedparam(..). discovered deadlock. Example for multiple Executor instances in one process, using the callback-group-level interface of the Executor class. Mutually Exclusive group. stream You are then free to do anything you want from this information: modify variables inside your code, do some actions, or even ignore the info. It does not add a new Executor but leverages callback groups for refining the Executor API to callback-group-level granularity. Let us look at some simple examples of different callback group setups. ^C[INFO] [1653034398.161674869] [client_node]: Keyboard interrupt, shutting down. $.' Are callback groups the proper way to handle this in ROS2 or is there a different mechanism that should be used to decouple two filters in a chain from being run in the same thread context? ",#(7),01444'9=82. Once youve found a match you can update the corresponding class attribute in your program. <> to each other, different instances of the same callback may also be ; The client subscribes to /topic_bool.When a new message is received on this topic, the client calls the service /trigger_srv and wait 10 seconds for a response. Lets say you want to switch to another camera from a different port, or youve simply unplugged/plugged the camera again and the device name has changed from /dev/ttyACM0 to /dev/ttyACM1. For example, the synchronous call Client.call(request) to a service callback groups correctly in order to avoid deadlocks. If we try running the server and client nodes The cookie is used to store the user consent for the cookies in the category "Performance". There is a high priority path formed by the topics high_ping and high_pong and a low priority path formed by low_ping and low_pong, respectively. The service client is declared with a callback group (which is added to a dedicated spinning executor) registering everything into one Reentrant Callback Group. Open 2 terminals. You also have the option to opt-out of these cookies. 6 0 obj If CallbackGroups are the proper way to do this then how do you actually add a Callback to the group in order for it to be processed? A parameters type is actually evaluated after youve set the value. These cookies help provide information on metrics the number of visitors, bounce rate, traffic source, etc. <>/XObject<>/Font<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI] >>/MediaBox[ 0 0 863.76 485.88] /Contents 4 0 R/Group<>/Tabs/S/StructParents 0>> is enough. How do you use CallbackGroups as a replacement for CallbackQueues in ROS2? However, you may visit "Cookie Settings" to provide a controlled consent. In the context of ROS 2 and executors, a callback means a function whose Furthermore, if everything in a node uses the same Mutually Exclusive Thus, let us change the first two lines of the client nodes constructor First of all, we create a new method in our node class - "parameters_callback". We set a default value for each parameter. This concept was developed in 2018 and has been integrated in ROS 2 mainline in 2020, i.e., is available from ROS 2 Galactic on. synchronous calls to actions or services should not be done in callbacks, Also, if you need to execute an action after a parameter has been updated, do the action in a different thread so the callback can exit quickly. An example case could be an action server that needs to be able to process The client nodes constructor contains options for setting the When the service call is made, the client then passes its callback ( rclcpy callback parameter version for Python) Node setup Add an rclcpp parameter callback The code Get info for each received param Update class attributes in the callback Remove parameter callback So, if we dont manually set a value when we run the node (from the terminal or a launch file), the params will still be defined. executing (waiting for the result of the service call), in mind when working with callback groups. However, the two callbacks of the Pong Node that process the incoming ping messages and answer with a pong message are assigned to two different callback groups. callback. executor choice to make sense. execution of callbacks: These callback groups restrict the execution of their callbacks in (. With the rclpy parameters callback functionality, you can also modify dynamically any parameter while the node is alive, and get notified inside the code. the client making the call need to belong to, different callback groups (of any type), or. The examples_rclcpp_cbg_executor package provides a demo and test bench for the Callback-group-level Executor concept. If you have different callbacks that require to be potentially executed The cookie is used to store the user consent for the cookies in the category "Analytics". Creative Commons Attribution Share Alike 3.0. In this example we get a Parameter object with those attributes: With those info you have everything you need to update your class attributes and do some actions. All callbacks of the Ping Node (i.e., for the timer for sending ping messages and for the two subscription on high_pong and low_pong) are handled in one callback group and thus Executor instance. Hence, this section provides some guidelines on how to set up a nodes result (or if you want to make absolutely sure that there is never a the response of the first call is never received, after which the Performance cookies are used to understand and analyze the key performance indexes of the website which helps in delivering a better user experience for the visitors. endobj If you have a callback whose execution instances need to be able to overlap adds a Futures done-callback that needs to be executed during the And one important thing: as you are currently inside a callback, it is not a good idea to spend too much time there. Open 2 terminals. Please see the function configure_native_thread(..) in utilities.hpp for details. Now, for any reason, if you want to remove the callback during the execution, you can do so with self.remove_on_set_parameters_callback(self.parameters_callback). Hence we need to add a callback to notify the node as soon as the parameter has been modified. ROS 2 Iron Irwini (codename iron; May, 2023), Writing a simple publisher and subscriber (C++), Writing a simple publisher and subscriber (Python), Writing a simple service and client (C++), Writing a simple service and client (Python), Writing an action server and client (C++), Writing an action server and client (Python), Composing multiple nodes in a single process, Integrating launch files into ROS 2 packages, Running Tests in ROS 2 from the Command Line, Building a visual robot model from scratch, Using Fast DDS Discovery Server as discovery protocol [community-contributed], Setting up a robot simulation (Ignition Gazebo), Using quality-of-service settings for lossy networks, Setting up efficient intra-process communication, Packaging your ROS 2 application as a snap [community-contributed], Deploying on IBM Cloud Kubernetes [community-contributed], Building a real-time Linux kernel [community-contributed], Migrating launch files from ROS 1 to ROS 2, Using Python, XML, and YAML for ROS 2 Launch Files, Using ROS 2 launch to launch composable nodes, Migrating YAML parameter files from ROS 1 to ROS 2, Passing ROS arguments to nodes via the command-line, Synchronous vs. asynchronous service clients, Working with multiple ROS 2 middleware implementations, Running ROS 2 nodes in Docker [community-contributed], Visualizing ROS 2 data with Foxglove Studio, Building ROS 2 with tracing instrumentation, On the mixing of ament and catkin (catment), ROS 2 Technical Steering Committee Charter. It appears that ROS2 has changed the concept of a node have a single CallbackQueue to a node having multiple CallbackGroups that can have different thread locking mechanisms. using the same Mutually Exclusive Callback Group (the nodes default). Give us more details about what you want to learn! 5 comments Contributor clalancette commented on Jun 5, 2018 There are three parameters to configure the experiment: The default values are 0.01 seconds for all three parameters. On terminal 1, start the node with ros2 run. An example case might be that the callbacks are accessing shared And then youll probably get an exception in your code later on when you try to use the value. So, by using vars() on each Parameter youll get all the info they contain. Hence, all of the following configurations (and some others as well) On macOS the core pinning failed silently in our experiments. The Ping and Pong nodes, the two executors, etc. Example for changing the values on the command line: With these values, about (0.033s - 0.025s) / 0.010s = 80% of the ping messages on the low prio path should be processed and answered by a pong message: The Ping Node and the Pong Node are implemented in two classes PingNode (see ping_node.hpp) and PongNode (see pong_node.hpp), respectively. In this case, the parameter will not be updated and the previous value remains. ROS 2 offers two different types of callback groups for controlling executed in parallel - essentially making it as if the callbacks in the group Do you want to become better at programming robots, with Arduino, Raspberry Pi, or ROS2? some callback group(s) should always be specified in order for the their callback group to all callbacks they spawn. same Mutually Exclusive group and the timer callback is still Here are all the available types for Parameters: Dont forget to import the Parameter object in your file. are composed and configured in the main(..) function of main.cpp. Mutually Exclusive Callback Group. (, Demo for callback-group-level executor concept. Analytical cookies are used to understand how visitors interact with the website. So how to make sure the parameters you get in the callback have the correct type? with each other, register it to a Reentrant Callback Group. Sometimes the callbacks are hidden and their presence may not be obvious Since we are making service calls with a 1 second timer, the <> all callbacks created by the client will be assigned to that callback group. This cookie is set by GDPR Cookie Consent plugin. How can I build deb packages from ROS2 Bouncy Bolson packages? stream Well, once youve successfully setup the rclpy parameters callback, then what you do inside it is up to you. You can easily check the type with the type_ attribute, and compare it with the type you want from the Parameter object. Lets take a simple example: the camera_device_port. [INFO] [1653034355.308958238] [service_node]: Starting server node, shut down with CTRL-C. [INFO] [1653034372.758197320] [service_node]: Received request, responding ^C[INFO] [1653034416.021962246] [service_node]: Keyboard interrupt, shutting down. in a timer callback (see the next section for an example). These cookies ensure basic functionalities and security features of the website, anonymously. both the timer and the client will use the nodes default different callbacks in action servers and clients. ^C[INFO] [1653067528.400052749] [client_node]: Keyboard interrupt, shutting down. This cookie is set by GDPR Cookie Consent plugin. endstream 3 0 obj This allows a single node to have callbacks with different real-time requirements assigned to different Executor instances within one process. This cookie is set by GDPR Cookie Consent plugin. For example, if one assigns a callback group to an action client, JFIF ` ` ZExif MM * J Q Q Q C These cookies will be stored in your browser only with your consent. the timer fires repeatedly and The callback group can then be passed as argument/option when . While using asynchronous calls is indeed safer in this regard, synchronous Every function that is run by an executor is, by definition, a callback. possibility of a deadlock), use asynchronous calls. The cookies is used to store the user consent for the cookies in the category "Necessary". The existing tf2 message_filter.h relies on using the CallbackQueueInterface in order to enqueue messages that it receives before they are sent on to subsequent filters/callbacks. .github launch_testing/ launch_testing_examples rclcpp rclpy .gitignore After that, if you modify a parameter outside the node, the node wont be notified anymore. For example: Parameter.Type.STRING. execution of the function call, but this callback is not directly Register callbacks that should never be executed in parallel to the same First thing to note here is that every nodes default callback group is a Callback groups can be created by a nodes create_callback_group After starting a ROS2 node with some parameters, you want to be able to dynamically change those parameters and get notified inside your code? groups as a tool for controlling the execution of different callbacks. Almost everything in ROS 2 is a callback! endobj the edge of the system (user and sensor inputs etc). 5 0 obj Thus, whenever one decides to use a Multi-Threaded Executor, After that we get the values for each parameter and we store them inside some class attributes. It appears that ROS2 has changed the concept of a node have a single CallbackQueue to a node having multiple CallbackGroups that can have different thread locking mechanisms. Callbacks belonging to different callback groups (of any type) can always (, Fix clang warnings about type mismatches. service calls: Note: The API of service client in rclcpp does not offer a First of all, we create a new method in our node class parameters_callback. is that the timer and client must not belong to the same The demo also runs on Windows, where the two threads are prioritized as above normal and below normal, respectively, which does not require elevated privileges. As a complete beginner? Step 1: Create the ROS service server When the service is called, the robot must do the following behavior: Identify which laser ray is the shortest. group to the Future object (hidden inside the call-method in the But if you change a parameters value after its been read by the node, then the node wont be able to know it if you dont notify it. For information on the latest version, please have a look at Humble. Failing the first point will always cause a deadlock. 2 0 obj We also use third-party cookies that help us analyze and understand how you use this website. This method will be used as the callback. Lets add an rclpy parameter callback in our node. service callbacks (for executing service requests in a server). First, make sure you know how to create an rclpy Node and how to declare and get parameters with rclpy. client node seemingly gets stuck and does not make further calls. The cookie is set by the GDPR Cookie Consent plugin and is used to store whether or not user has consented to the use of cookies. entities will use the nodes default callback group. For example, for the battery_percentage_warning_, youd expect to get a value between 0 and 100. So, for some of your parameters you might add an additional step, specific to your application. We can fix this easily - for example - by assigning the timer and client >> Learn ROS2 as a ROS1 Developer and Migrate Your ROS Projects <<. [ROS2] What's the best way to wait for a new message? It is also important to keep in mind that different ROS 2 entities relay On the other hand, synchronous calls also have their advantages, such as Well see more examples about that later in this tutorial. This can be done by rotating the robot until ray 0 is the smaller one. The reason for this is that the timer callback and the client are So, if you open 2 terminals, run the node in terminal 1, and try to change the parameters value in terminal 2: As you can see, when we send a value with a different type than integer or double, we get Setting parameter failed. If you had a boolean parameter, and you try to assign a string to it, well it will work. package (, Added jitter measurement to examples_rclcpp_cbg_executor. Note that the option in the list is a valid way of allowing parallel The Pong Node takes these ping messages and replies each of them. With the above in mind, here are a couple guidelines to help avoid deadlocks: If you make a synchronous call in any type of a callback, this callback and Thus, an Executor instance can be dedicated to one or few specific callback groups and the Executors thread (or threads) can be prioritized according to the real-time requirements of these groups. This means that, in addition to different callbacks being run parallel So, in the callback function, you'll receive an array of all modified parameters. When running a node in a Multi-Threaded Executor, ROS 2 offers callback Running the two nodes in separate processes: The two processes should be started simultaneously as the experiment runtime is just 10 seconds. 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