mavros: make UAS executor threads configurable#2189
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jacog2 wants to merge 1 commit into
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vooon
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May 11, 2026
| { | ||
| constexpr size_t kMinExecutorThreads = 2; | ||
| constexpr size_t kMaxExecutorThreads = 16; | ||
| constexpr std::string_view kExecutorThreadsEnv = "MAVROS_UAS_EXECUTOR_THREADS"; |
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I prefer old C-convention for the constants.
Also i don't think it really needs string view.
| const auto result = std::from_chars(input.data(), input.data() + input.size(), threads); | ||
| if (result.ec != std::errc{} || result.ptr != input.data() + input.size() || threads == 0) { | ||
| return 0; | ||
| } |
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std::stoi() seems much more compact...
| return 0; | ||
| } | ||
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| return std::clamp(threads, kMinExecutorThreads, kMaxExecutorThreads); |
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If user sets amount of threads we should only limit minimum to be 2+.
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|
Hi @jacog2, I prepared a small local patch for the three review points here: switch the env parsing to Would you like me to send that patch somehow, or would you prefer to update the PR yourself? |
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Summary
Adds a
MAVROS_UAS_EXECUTOR_THREADSenvironment override for the UAS plugin executor worker count.This gives ROS 2 users a low-risk mitigation path for high CPU usage by allowing deployments to run the UAS executor with 2 worker threads, while preserving the current hardware-concurrency-based default when the variable is unset.
Closes #2031.
Validation
git diff --checkI could not run
colcon testlocally in this Windows environment because ROS 2/colcon and a C++ compiler are not installed here.