LET-Semantics. Assumption: time-triggered system, the executor is activated periodically • When the trigger fires, reads all input data and makes a local copy • Processes all callbacks in sequential order • Write output data at the end of the executor’s period (Note: this is not implemented yet) Additionally we have implemented the current rclcpp Executor semantics (“RCLCPP”): - waiting for new data for all handles (rcl_wait) - using trigger condition ANY - if trigger fires, start processing handles in pre-defined sequential order - request from DDS-queue the new data just before the handle is executed (rcl_take) The selection of the Executor semantics is optional. The default semantics is “RCLCPP”.
