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chore: sync upstream jazzy #23

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chore: sync upstream jazzy #23

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8 changes: 4 additions & 4 deletions rclcpp_components/src/component_container_mt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,16 @@ int main(int argc, char * argv[])
/// Component container with a multi-threaded executor.
rclcpp::init(argc, argv);

auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
auto node = std::make_shared<rclcpp_components::ComponentManager>();
rclcpp::executors::MultiThreadedExecutor::SharedPtr exec = nullptr;
const auto node = std::make_shared<rclcpp_components::ComponentManager>();
if (node->has_parameter("thread_num")) {
const auto thread_num = node->get_parameter("thread_num").as_int();
exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
rclcpp::ExecutorOptions{}, thread_num);
node->set_executor(exec);
} else {
node->set_executor(exec);
exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
}
node->set_executor(exec);
exec->add_node(node);
exec->spin();
}