do you have some kinda final target on this with reason or specific use case? Execution Management in ROS 1 onGoal nextCmdprocessOdom Spin thread Callbackqueue Transform Networkthread Timerthread buffer TFthread /goal/cmd/odom TCP, UDP Ingo Ltkebohle: "Determinism in ROS", https://vimeo.com/236186712 int main(int argc, char* argv[]){ rclcpp::init(argc, argv);rclcpp::Node::SharedPtr node = . In any case, from the Language Support section of the design docs, it seems C++ implementations where to be temporary measures, given the complexity/bloat from the C++ standard. I think youre suggesting Go or Rust, but I dont see that happening anytime soon. CHANGELOG Added common linters ( #265) Contributors: Alejandro Hern GC languages like Go dont seem as good of a fit for high performance or realtime systems though: Rust is becoming a first class language in a variety of domains. An executor can have zero or more nodes which provide work during spin functions. How long to wait for work to become available. updated Aug 4 '20 You may need to add two CallbackGroups and pass then as arguments while calling create_subscription () or create_publisher (). This second phase is still highly WIP for us, as we dont have a prototype to measure the improvements yet, however, our idea is that this will provide a big benefit to all the client libraries. See the default constructor for Executor. github.com/alsora/rclcpp MultiThreadedExecutor(const rclcpp::ExecutorOptions &options=rclcpp::ExecutorOptions(), size_t number_of_threads=0, bool yield_before_execute=false, std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1)). The memory strategy: an interface for handling user-defined memory allocation strategies. We can identify some major contributors to this overhead: As of today, running the iRobot benchmark application (1 process, 20 nodes) on a RaspberryPi platform the CPU usage is approximately 20%. Inheritance diagram for rclcpp::executor::Executor: template, template, rclcpp::executors::single_threaded_executor::SingleThreadedExecutor, rclcpp::executors::multi_threaded_executor::MultiThreadedExecutor, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::callback_group::CallbackGroup::SharedPtr, memory_strategy::MemoryStrategy::SharedPtr, virtual rclcpp::executor::Executor::~Executor, virtual void rclcpp::executor::Executor::spin, virtual void rclcpp::executor::Executor::add_node. The executor structure allows for a decoupling of the communication graph and the execution model. We did several prototypes for this executor, also with the purpose of highlighting the overhead caused by each of the individual problems that affect the ROS 2 stack. When I worked in industrial communications at TI, I rarely encountered good C++ support for the low power embedded devices and vendor compilers we used. template. The future to wait on. README No README found. Implementation: https://github.com/alsora/rclcpp/commit/609dd6e715628243d15c4e15ce11a84bbbfdee40, We moved also timers outside of the executor and to separate threads. static void rclcpp::executor::Executor::execute_subscription, rclcpp::subscription::SubscriptionBase::SharedPtr, static void rclcpp::executor::Executor::execute_intra_process_subscription, static void rclcpp::executor::Executor::execute_timer, static void rclcpp::executor::Executor::execute_service, static void rclcpp::executor::Executor::execute_client, void rclcpp::executor::Executor::wait_for_work, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::executor::Executor::get_node_by_group, rclcpp::callback_group::CallbackGroup::SharedPtr rclcpp::executor::Executor::get_group_by_timer, void rclcpp::executor::Executor::get_next_timer, AnyExecutable::SharedPtr rclcpp::executor::Executor::get_next_ready_executable, AnyExecutable::SharedPtr rclcpp::executor::Executor::get_next_executable, std::atomic_bool rclcpp::executor::Executor::spinning, memory_strategy::MemoryStrategy::SharedPtr rclcpp::executor::Executor::memory_strategy_. For the yield_before_execute option, when true std::this_thread::yield() will be called after acquiring work (as an AnyExecutable) and releasing the spinning lock, but before executing the work. Possible solutions could consist in making the ROS 2 application to directly use the waitset provided by the DDS middleware and changing the ROS layers to be just forward this structure with a minimal overhead. Defined in File multi_threaded_executor.hpp. Package Description Package containing example of how to implement a multithreaded executor Additional Links No additional links. This function can be overridden. rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::callback_group::CallbackGroup::SharedPtr. The followup is, what do we do instead? We decided to tackle the intra-process case as its simpler and can lead to great results without almost any architectural change, as it can coexist with existing solutions. Adding subscriptions, timers, services, etc. This multithread_executor.cpp will help you. rcl_guard_condition_t This reduced the CPU usage to 11% Cannot retrieve contributors at this time. Assuming that we dont want to do the above - because of lacking support for C++ stdlibs for embedded platforms, not because of client language interoperability concerns - the question to me becomes, when do we as a ROS 2 development community stop accepting major feature sets into the C++ language client? Here i want to present you an approach that we developed, that cuts the CPU usage from 20% to 6%. Maintainers Jacob Hassold Authors No additional authors. Do work periodically as it becomes available to us. Implementation: https://github.com/irobot-ros/ros2-performance/commit/16e30bded2d8745d1d8eabe2aa2d0241cc9d5414. As it has been already highlighted in SingleThreadedExecutor creates a high CPU overhead in ROS 2 But I am very concerned about ROS 2 duplicating the ros_comm situation and completely reimplementing large amount of functionality in different language clients, or even worse making rclpy basically unusable in serious project because it lacks too many features. Wait set for managing entities that the rmw layer waits on. Update the intra-process subscription to work with a single guard condition per executor. Since we joined this community, we are proud to have contributed (with different degrees of involvement) to most of the relevant performance updates. The use of ROS 2 timers can be greatly improved. These threads are extremely simple and they only monitor when a new message is pushed into the intra-process subscription buffer, thus triggering the associated callback. Inheritance diagram for rclcpp::executors::SingleThreadedExecutor: Collaboration diagram for rclcpp::executors::SingleThreadedExecutor: Add a node to executor, execute the next available unit of work, and remove the node. Our objective is to make ROS 2 as light weight as possible to allow who works with resource constrained embedded platform to be in a condition to consider a transition to ROS 2. I always thought the core is written in C++ and Python comes as an extra, but it seems like both C++ and Python are extras to C. Has there been any discussion regarding these topics in the meantime? Switching the memory strategy while the executor is spinning in another threading could have unintended consequences. Implementation: https://github.com/alsora/rclcpp/commit/ea3f97c2dded2fe4d33c36cae28efa4e11d34b1e, We substituted the rcl_wait and rcl_guard_condition_t used by these new threads with instances of std::condition_variable. This can be implemented either as a separate executor or integrated in an existing one to provide a Multi Thread executor that uses 1 thread for intra-process events and 1 thread for inter-process events. However, the main focus was also to highlight the bottlenecks of the current architecture, especially because all the problems mentioned in the first post are present also with inter-process communication. True to trigger the interrupt guard condition and wake up the executor. The idea of this executor is that it only handles intra-process events and that it does that entirely within the rclcpp layer, without sending anything down the stack. Id be interested to hear from @wjwwood @dirk-thomas @tfoote high level on this topic as well - though probably sometime next month would be an easier time to start such a conversation. Spinning state, used to prevent multi threaded calls to spin and to cancel blocking spins. void rclcpp::executor::Executor::spin_node_some, virtual void rclcpp::executor::Executor::spin_some, virtual void rclcpp::executor::Executor::spin_once. Cannot retrieve contributors at this time. awesome, thank you so much for your effort! Support dynamic switching of the memory strategy. At iRobot, we are currently investigating some prototypes and approaches for improving also this scenario and we will keep you posted. My suggestion was to put C++ implementation of certain feature sets underneath a C API, not to move to a C++ API. I think it should be https://github.com/ros2/examples/blob. Loving this work! We consider that with this last update, our performance targets would be met for a single process application. can use those features? Convenience function which takes Node and forwards NodeBaseInterface. rclcpp::spin(node); } return 0; Then we decided to wrap up all what we learnt into an executor. This reduced the CPU usage to 9% @wjwwood @Dejan_Pangercic @joespeed @Jaime_Martin_Losa. 1 year ago, the measured performance for a 20 nodes system on a Raspberry Pi 3 were around 35-40% CPU usage and more than 100Mb RAM usage. I think there were 2 main reasons why the rcl is written in C: Powered by Discourse, best viewed with JavaScript enabled, Reducing ROS 2 CPU overhead by simplifying the ROS 2 layers, SingleThreadedExecutor creates a high CPU overhead in ROS 2, https://github.com/alsora/rclcpp/commit/ea3f97c2dded2fe4d33c36cae28efa4e11d34b1e, https://github.com/alsora/rclcpp/commit/609dd6e715628243d15c4e15ce11a84bbbfdee40, https://github.com/irobot-ros/ros2-performance/commit/16e30bded2d8745d1d8eabe2aa2d0241cc9d5414, Imandra Documentation - Creating and Verifying a ROS Node, Microsoft Security Response Center 16 Jul 19, A proactive approach to more secure code - Microsoft Security Response Center, https://design.ros2.org/articles/ros_on_dds.html#language-support, https://nanomsg.org/documentation-zeromq.html#_implementation_language. I think this misses the point. Edit: more thoughts - Im not super inclined to suggest that we rebuild the intraprocess stuff in C - I think youre suggesting Go or Rust, but I dont see that happening anytime soon (years, if even agreed as a thing to do?). What if we could eliminate an entire class of vulnerabilities before they ever happened? Complete all available queued work without blocking. To review, open the file in an editor that reveals hidden Unicode characters. committed 08:33AM - 20 Apr 20 UTC * A small convenience function for converting a thread ID to a string, * We will have a single subscriber node running 2 threads. Implements rclcpp::executor::Executor. If such a simple solution allows to get such noticeable improvements, I think that its worth discussing what can be changed in the ROS 2 layers. Figure 15: multi-threaded rclc-Executor Executor API. Add a node to executor, execute the next available unit of work, and remove the node. alsora Do we reimplement the rclcpp-specific features in C - or in a different language and expose a C API - so that rclcpp, rclpy et. All this implemented using chrono time. virtual void rclcpp::executor::Executor::remove_node. Are you sure you want to create this branch? al. rclcpp::executors::SingleThreadedExecutor Class Reference. We would like to have feedback and proposals from the ROS 2 community while working on it, in particular from the DDS vendors, as this is such an important change. Blocking call, may block indefinitely. Shared pointer to the memory strategy to set. In terms of crude numbers, we tried to roughly get a 20 nodes application to run in 15% CPU and 20 Mb on a Raspberry Pi 3 (quad core) and a 10 nodes application to run in 10 % CPU and 10 Mb on a Raspberry Pi 1 (single core). at least keeps the two top ones in much better feature parity. Even if you use intra-process communication, the synchronization primitives are managed by the WaitSet and are sent from the application to the middleware. If SUCCESS, the future is safe to access after this function. When working with platforms with that computational power, you are already trying hard to squeeze everything you have to fit it in there, thus the overhead that would be introduced by a transition to ROS 2 becomes unsustainable. As the default rclcpp Executor works at a node-level granularity - which is a limitation given that a node may issue . composition with a multi-threaded-executor (thread num=2) consumes higher cpu than normal standalone case, which seems like a bit strange. This header provides the get_node_base_interface() template function. These could even be extension libraries that are not part of core rcl, and could be replaced over time by different implementations without breaking the API (but these are implementation details). void rclcpp::executor::Executor::spin_node_once_nanoseconds, void rclcpp::executor::Executor::execute_any_executable. This is currently managed by the, Timers and Intra-process messages are intra-process events, Inter-process messages are inter-process events. The context associated with this executor. Note that we still used the ROS 2 synchronization primitives rcl_wait and rcl_guard_condition_t, The API of the rclc Executor can be divided in two phases: Configuration and Running. Currently this happens multiple times every iteration of the executor, even if the majority of ROS 2 systems is mostly static. An example of available work is executing a subscription callback, or a timer callback. In this notebook we look at verifying a Robotic Operating System (ROS) node. True to trigger the interrupt guard condition during this function. I am thinking of Intra-Process and Composition at top of mind. Im a bit bias here with security and static analysis, but I wouldnt like to see reliance of C++ creeping into rcl. virtual ~MultiThreadedExecutor() . They're also what the executor looks for when trying to run multiple threads, * Simple function for generating a timestamp, * Used for somewhat ineffectually demonstrating that the multithreading doesn't cripple performace, * Every time the Publisher publishes something, all subscribers to the topic get poked, * This function gets called when Subscriber1 is poked (due to the std::bind we used when defining it), * This function gets called when Subscriber2 is poked. Coordinate the order and timing of available communication tasks. timeout - maximum time to wait. This header provides the get_node_base_interface() template function. the thread num of multi-threaded-executor equals to the num of nodes, in this case, thread num = 2; you could reproduce similar result by running python scripts/test_use_dedicated_executors.py in this package. -18 Implement an heap priority queue for timers in the, Implement the rclcpp executor: this will require an efficient way to access to condition variable without using the waitset and would use the queue implementation from, biggest portability: every embedded system has at least a C compiler, its easier to create language bindings to a C API then C++ (name mangling etc). rclcpp::executor::Executor Class Reference. Currently both types of events are influenced by the whole ROS 2 stack and by the underlying middleware. This can be implemented in a middleware generic way by taking advantage of the DDS C++ APIs for example https://www.omg.org/spec/DDS-PSM-Cxx/. * They don't really do much on their own, but they have to exist in order to, * assign callbacks to them. Add a node, complete all immediately available work, and remove the node. You signed in with another tab or window. The point being that integration of any client language that can speak to C would be unaffected, because the API would be pure C. No interoperability problems. Thank you everyone for the interest shown. This doesnt enable all other languages, but at least keeps the two top ones in much better feature parity. Neither of those languages friendly address the embedded device space however. Coordinate the order and timing of available communication tasks. Python, Rust, Java, etc) - what Im not sure about right now is why we dont put these extensions under rcl, implemented in C++, but exposing a C API for use. options common options for all executors, number_of_threads number of threads to have in the thread pool, the default 0 will use the number of cpu cores found (minimum of 2), yield_before_execute if true std::this_thread::yield() is called, std::runtime_error when spin() called while already spinning, include/rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp, include/rclcpp/allocator/allocator_common.hpp, include/rclcpp/allocator/allocator_deleter.hpp, include/rclcpp/strategies/allocator_memory_strategy.hpp, include/rclcpp/any_subscription_callback.hpp, include/rclcpp/experimental/buffers/buffer_implementation_base.hpp, include/rclcpp/detail/cpp_callback_trampoline.hpp, include/rclcpp/create_generic_publisher.hpp, include/rclcpp/create_generic_subscription.hpp, include/rclcpp/experimental/create_intra_process_buffer.hpp, include/rclcpp/contexts/default_context.hpp, include/rclcpp/dynamic_typesupport/dynamic_message.hpp, include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp, include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp, include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp, include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp, include/rclcpp/wait_set_policies/dynamic_storage.hpp, include/rclcpp/experimental/executors/events_executor/events_executor.hpp, include/rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp, include/rclcpp/experimental/executors/events_executor/events_queue.hpp, include/rclcpp/experimental/executable_list.hpp, include/rclcpp/executors/executor_entities_collection.hpp, include/rclcpp/executors/executor_entities_collector.hpp, include/rclcpp/executors/executor_notify_waitable.hpp, include/rclcpp/expand_topic_or_service_name.hpp, include/rclcpp/get_message_type_support_handle.hpp, include/rclcpp/experimental/buffers/intra_process_buffer.hpp, include/rclcpp/intra_process_buffer_type.hpp, include/rclcpp/experimental/intra_process_manager.hpp, include/rclcpp/is_ros_compatible_type.hpp, include/rclcpp/message_memory_strategy.hpp, include/rclcpp/strategies/message_pool_memory_strategy.hpp, include/rclcpp/executors/multi_threaded_executor.hpp, include/rclcpp/node_interfaces/node_base.hpp, include/rclcpp/node_interfaces/node_base_interface.hpp, include/rclcpp/node_interfaces/node_clock.hpp, include/rclcpp/node_interfaces/node_clock_interface.hpp, include/rclcpp/node_interfaces/node_graph.hpp, include/rclcpp/node_interfaces/node_graph_interface.hpp, include/rclcpp/node_interfaces/node_interfaces.hpp, include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp, include/rclcpp/node_interfaces/node_logging.hpp, include/rclcpp/node_interfaces/node_logging_interface.hpp, include/rclcpp/node_interfaces/node_parameters.hpp, include/rclcpp/node_interfaces/node_parameters_interface.hpp, include/rclcpp/node_interfaces/node_services.hpp, include/rclcpp/node_interfaces/node_services_interface.hpp, include/rclcpp/node_interfaces/node_time_source.hpp, include/rclcpp/node_interfaces/node_time_source_interface.hpp, include/rclcpp/node_interfaces/node_timers.hpp, include/rclcpp/node_interfaces/node_timers_interface.hpp, include/rclcpp/node_interfaces/node_topics.hpp, include/rclcpp/node_interfaces/node_topics_interface.hpp, include/rclcpp/node_interfaces/node_waitables.hpp, include/rclcpp/node_interfaces/node_waitables_interface.hpp, include/rclcpp/parameter_event_handler.hpp, include/rclcpp/parameter_events_filter.hpp, include/rclcpp/qos_overriding_options.hpp, include/rclcpp/detail/resolve_enable_topic_statistics.hpp, include/rclcpp/detail/resolve_intra_process_buffer_type.hpp, include/rclcpp/detail/resolve_use_intra_process.hpp, include/rclcpp/experimental/buffers/ring_buffer_implementation.hpp, include/rclcpp/detail/rmw_implementation_specific_payload.hpp, include/rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp, include/rclcpp/detail/rmw_implementation_specific_subscription_payload.hpp, include/rclcpp/experimental/ros_message_intra_process_buffer.hpp, include/rclcpp/wait_set_policies/sequential_synchronization.hpp, include/rclcpp/experimental/executors/events_executor/simple_events_queue.hpp, include/rclcpp/executors/single_threaded_executor.hpp, include/rclcpp/executors/static_executor_entities_collector.hpp, include/rclcpp/executors/static_single_threaded_executor.hpp, include/rclcpp/wait_set_policies/static_storage.hpp, include/rclcpp/wait_set_policies/detail/storage_policy_common.hpp, include/rclcpp/detail/subscription_callback_type_helper.hpp, include/rclcpp/subscription_content_filter_options.hpp, include/rclcpp/experimental/subscription_intra_process.hpp, include/rclcpp/experimental/subscription_intra_process_base.hpp, include/rclcpp/experimental/subscription_intra_process_buffer.hpp, include/rclcpp/topic_statistics/subscription_topic_statistics.hpp, include/rclcpp/subscription_wait_set_mask.hpp, include/rclcpp/wait_set_policies/detail/synchronization_policy_common.hpp, include/rclcpp/detail/template_contains.hpp, include/rclcpp/detail/template_unique.hpp, include/rclcpp/wait_set_policies/thread_safe_synchronization.hpp, include/rclcpp/experimental/timers_manager.hpp, include/rclcpp/topic_statistics_state.hpp, include/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.hpp, Namespace rclcpp::experimental::executors, Namespace rclcpp::function_traits::detail, Namespace rclcpp::memory_strategies::allocator_memory_strategy, Namespace rclcpp::message_memory_strategy, Namespace rclcpp::node_interfaces::detail, Namespace rclcpp::strategies::message_pool_memory_strategy, Namespace rclcpp::wait_set_policies::detail, Template Struct AnySubscriptionCallback::NotNull, Struct Client::SharedFutureWithRequestAndRequestId, Template Struct AnySubscriptionCallbackHelper, Template Struct AnySubscriptionCallbackHelper< MessageT, AllocatorT, false >, Template Struct AnySubscriptionCallbackHelper< MessageT, AllocatorT, true >, Template Struct AnySubscriptionCallbackPossibleTypes, Template Struct assert_type_pair_is_specialized_type_adapter, Template Struct can_be_nullptr< T, std::void_t< decltype(std::declval< T >()==nullptr), decltype(std::declval< T & >()=nullptr)> >, Template Struct SubscriptionCallbackTypeHelper, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(const std::shared_ptr< const MessageT > &)> >::value >>, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(const std::shared_ptr< const MessageT > &, const rclcpp::MessageInfo &)> >::value >>, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< const MessageT >)> >::value >>, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< const MessageT >, const rclcpp::MessageInfo &)> >::value >>, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< MessageT >)> >::value >>, Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< MessageT >, const rclcpp::MessageInfo &)> >::value >>, Template Struct template_contains< T, NextT, Us >, Template Struct template_unique< NextT, Ts >, Struct IntraProcessManager::SplittedSubscriptions, Template Struct as_std_function_helper< ReturnTypeT, std::tuple< Args > >, Template Struct function_traits< FunctionT & >, Template Struct function_traits< FunctionT && >, Template Struct function_traits< ReturnTypeT(*)(Args )>, Template Struct function_traits< ReturnTypeT(Args )>, Template Struct function_traits< ReturnTypeT(ClassT::*)(Args ) const >, Template Struct function_traits< std::bind< ReturnTypeT(&)(Args ), FArgs > >, Template Struct function_traits< std::bind< ReturnTypeT(ClassT::*)(Args ) const, FArgs > >, Template Struct function_traits< std::bind< ReturnTypeT(ClassT::*)(Args ), FArgs > >, Template Struct tuple_tail< std::tuple< Head, Tail > >, Template Struct is_type_adapter< TypeAdapter< Ts > >, Template Struct NodeInterfacesSupportCheck, Template Struct NodeInterfacesSupportCheck< StorageClassT >, Template Struct NodeInterfacesSupportCheck< StorageClassT, NextInterfaceT, RemainingInterfaceTs >, Template Struct NodeInterfacesSupports< StorageClassT >, Template Struct PublisherOptionsWithAllocator, Template Struct is_serialized_message_class, Template Struct is_serialized_message_class< SerializedMessage >, Struct MessagePoolMemoryStrategy::PoolMember, Template Struct extract_message_type< std::shared_ptr< MessageT > >, Template Struct extract_message_type< std::unique_ptr< MessageT, Deleter > >, Template Struct is_serialized_subscription, Template Struct is_serialized_subscription_argument, Template Struct is_serialized_subscription_argument< SerializedMessage >, Template Struct is_serialized_subscription_argument< std::shared_ptr< SerializedMessage > >, Struct SubscriptionOptionsBase::TopicStatisticsOptions, Template Struct SubscriptionOptionsWithAllocator, Template Struct TypeAdapter< T, void, std::enable_if_t< ImplicitTypeAdapter< T >::is_specialized::value > >, Template Struct TypeAdapter< T, void, std::enable_if_t< is_type_adapter< T >::value > >, Class RMWImplementationSpecificPublisherPayload, Class RMWImplementationSpecificSubscriptionPayload, Class ParameterModifiedInCallbackException, Class UninitializedStaticallyTypedParameterException, Template Class SubscriptionIntraProcessBuffer, Template Class SubscriptionROSMsgIntraProcessBuffer, Class ParameterEventHandler::StringPairHash, Template Class SubscriptionTopicStatistics, Class WritePreferringReadWriteLock::ReadMutex, Class WritePreferringReadWriteLock::WriteMutex, Class DynamicStorage::WeakSubscriptionEntry, Template Function rclcpp::add_will_overflow, Template Function rclcpp::add_will_underflow, Template Function rclcpp::allocator::get_rcl_allocator, Template Function rclcpp::allocator::retyped_allocate, Template Function rclcpp::allocator::retyped_deallocate, Template Function rclcpp::allocator::retyped_reallocate, Template Function rclcpp::allocator::retyped_zero_allocate, Template Function rclcpp::allocator::set_allocator_for_deleter(D *, Alloc *), Template Function rclcpp::allocator::set_allocator_for_deleter(std::default_delete *, std::allocator *), Template Function rclcpp::allocator::set_allocator_for_deleter(AllocatorDeleter *, Alloc *), Function rclcpp::contexts::get_global_default_context, Template Function rclcpp::create_client(std::shared_ptr, std::shared_ptr, std::shared_ptr, const std::string&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_client(std::shared_ptr, std::shared_ptr, std::shared_ptr, const std::string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_generic_publisher, Template Function rclcpp::create_generic_subscription, Template Function rclcpp::create_publisher(NodeT&&, const std::string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator&), Template Function rclcpp::create_publisher(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr&, const std::string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator&), Template Function rclcpp::create_publisher_factory, Template Function rclcpp::create_service(std::shared_ptr, std::shared_ptr, const std::string&, CallbackT&&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_service(std::shared_ptr, std::shared_ptr, const std::string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_subscription(NodeT&, const std::string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator&, typename MessageMemoryStrategyT::SharedPtr), Template Function rclcpp::create_subscription(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr&, const std::string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator&, typename MessageMemoryStrategyT::SharedPtr), Template Function rclcpp::create_subscription_factory, Template Function rclcpp::create_timer(std::shared_ptr, std::shared_ptr, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_timer(NodeT, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr), Template Function rclcpp::create_timer(rclcpp::Clock::SharedPtr, std::chrono::duration, CallbackT, rclcpp::CallbackGroup::SharedPtr, node_interfaces::NodeBaseInterface *, node_interfaces::NodeTimersInterface *), Template Function rclcpp::create_wall_timer, Function rclcpp::detail::add_guard_condition_to_rcl_wait_set, Function rclcpp::detail::apply_qos_override, Function rclcpp::detail::check_if_stringified_policy_is_null, Template Function rclcpp::detail::cpp_callback_trampoline, Template Function rclcpp::detail::create_publisher, Template Function rclcpp::detail::create_subscription, Function rclcpp::detail::declare_parameter_or_get, Template Function rclcpp::detail::declare_qos_parameters, Function rclcpp::detail::get_default_qos_param_value, Function rclcpp::detail::get_unparsed_ros_arguments, Template Function rclcpp::detail::get_value_helper, Function rclcpp::detail::get_value_helper< rclcpp::Parameter >, Function rclcpp::detail::get_value_helper< rclcpp::ParameterValue >, Template Function rclcpp::detail::resolve_enable_topic_statistics, Template Function rclcpp::detail::resolve_intra_process_buffer_type, Template Function rclcpp::detail::resolve_use_intra_process, Function rclcpp::detail::rmw_duration_to_int64_t, Template Function rclcpp::detail::safe_cast_to_period_in_ns, Function rclcpp::exceptions::throw_from_rcl_error, Function rclcpp::executors::build_entities_collection, Function rclcpp::executors::ready_executables, Template Function rclcpp::executors::spin_node_until_future_complete(rclcpp::Executor&, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, const FutureT&, std::chrono::duration), Template Function rclcpp::executors::spin_node_until_future_complete(rclcpp::Executor&, std::shared_ptr, const FutureT&, std::chrono::duration), Template Function rclcpp::executors::update_entities, Function rclcpp::expand_topic_or_service_name, Template Function rclcpp::experimental::create_intra_process_buffer, Function rclcpp::extend_name_with_sub_namespace, Function rclcpp::get_c_string(const char *), Function rclcpp::get_c_string(const std::string&), Function rclcpp::get_current_signal_handler_options, Template Function rclcpp::get_message_type_support_handle, Function rclcpp::init_and_remove_ros_arguments, Function rclcpp::memory_strategies::create_default_strategy, Template Function rclcpp::node_interfaces::detail::init_element, Template Function rclcpp::node_interfaces::detail::init_tuple, Function rclcpp::operator!=(const NetworkFlowEndpoint&, const NetworkFlowEndpoint&), Function rclcpp::operator!=(const QoS&, const QoS&), Function rclcpp::operator<<(std::ostream&, const FutureReturnCode&), Function rclcpp::operator<<(std::ostream&, const NetworkFlowEndpoint&), Function rclcpp::operator<<(std::ostream&, const rclcpp::Parameter&), Function rclcpp::operator<<(std::ostream&, const std::vector&), Function rclcpp::operator<<(std::ostream&, ParameterType), Function rclcpp::operator<<(std::ostream&, const QosPolicyKind&), Function rclcpp::operator==(const NetworkFlowEndpoint&, const NetworkFlowEndpoint&), Function rclcpp::operator==(const QoS&, const QoS&), Function rclcpp::parameter_map_from_yaml_file, Function rclcpp::qos_policy_name_from_kind, Function rclcpp::signal_handlers_installed, Function rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr), Function rclcpp::spin(rclcpp::Node::SharedPtr), Function rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr), Function rclcpp::spin_some(rclcpp::Node::SharedPtr), Template Function rclcpp::spin_until_future_complete(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, const FutureT&, std::chrono::duration), Template Function rclcpp::spin_until_future_complete(std::shared_ptr, const FutureT&, std::chrono::duration), Template Function rclcpp::sub_will_overflow, Template Function rclcpp::sub_will_underflow, Function rclcpp::to_string(const FutureReturnCode&), Function rclcpp::to_string(ParameterType), Function rclcpp::to_string(const ParameterValue&), Function rclcpp::type_support::get_describe_parameters_srv_type_support, Function rclcpp::type_support::get_get_parameter_types_srv_type_support, Function rclcpp::type_support::get_get_parameters_srv_type_support, Function rclcpp::type_support::get_intra_process_message_msg_type_support, Function rclcpp::type_support::get_list_parameters_result_msg_type_support, Function rclcpp::type_support::get_list_parameters_srv_type_support, Function rclcpp::type_support::get_parameter_descriptor_msg_type_support, Function rclcpp::type_support::get_parameter_event_msg_type_support, Function rclcpp::type_support::get_set_parameters_atomically_srv_type_support, Function rclcpp::type_support::get_set_parameters_result_msg_type_support, Function rclcpp::type_support::get_set_parameters_srv_type_support, Function rclcpp::uninstall_signal_handlers, Template Function rclcpp::wait_for_message(MsgT&, std::shared_ptr>, std::shared_ptr, std::chrono::duration), Template Function rclcpp::wait_for_message(MsgT&, rclcpp::Node::SharedPtr, const std::string&, std::chrono::duration), Function std::to_string(const rclcpp::Parameter&), Function std::to_string(const std::vector&), Variable rclcpp::detail::template_contains_v, Variable rclcpp::detail::template_unique_v, Variable rclcpp::topic_statistics::kDefaultPublishingPeriod, Variable rclcpp::topic_statistics::kDefaultPublishTopicName, Define RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING, Define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT, Define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE, Define RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE, Typedef rclcpp::exceptions::reset_error_function_t, Typedef rclcpp::executors::WeakCallbackGroupsToNodesMap, Typedef rclcpp::IncompatibleTypeCallbackType, Typedef rclcpp::PreShutdownCallbackHandle, Typedef rclcpp::PublisherMatchedCallbackType, Typedef rclcpp::QOSDeadlineOfferedCallbackType, Typedef rclcpp::QOSDeadlineRequestedCallbackType, Typedef rclcpp::QOSLivelinessChangedCallbackType, Typedef rclcpp::QOSLivelinessLostCallbackType, Typedef rclcpp::QOSMessageLostCallbackType, Typedef rclcpp::QOSOfferedIncompatibleQoSCallbackType, Typedef rclcpp::QOSOfferedIncompatibleQoSInfo, Typedef rclcpp::QOSRequestedIncompatibleQoSCallbackType, Typedef rclcpp::QOSRequestedIncompatibleQoSInfo, Typedef rclcpp::SubscriptionMatchedCallbackType, Typedef rclcpp::WeakCallbackGroupsToNodesMap, File add_guard_condition_to_rcl_wait_set.hpp, Program Listing for File add_guard_condition_to_rcl_wait_set.hpp, Program Listing for File allocator_common.hpp, Program Listing for File allocator_deleter.hpp, Program Listing for File allocator_memory_strategy.hpp, Program Listing for File any_executable.hpp, Program Listing for File any_service_callback.hpp, Program Listing for File any_subscription_callback.hpp, Program Listing for File buffer_implementation_base.hpp, Program Listing for File callback_group.hpp, Program Listing for File cpp_callback_trampoline.hpp, Program Listing for File create_client.hpp, Program Listing for File create_generic_publisher.hpp, Program Listing for File create_generic_subscription.hpp, Program Listing for File create_intra_process_buffer.hpp, Program Listing for File create_publisher.hpp, Program Listing for File create_service.hpp, Program Listing for File create_subscription.hpp, Program Listing for File create_timer.hpp, Program Listing for File default_context.hpp, Program Listing for File dynamic_message.hpp, Program Listing for File dynamic_message_type.hpp, Program Listing for File dynamic_message_type_builder.hpp, Program Listing for File dynamic_message_type_support.hpp, Program Listing for File dynamic_serialization_support.hpp, Program Listing for File dynamic_storage.hpp, Program Listing for File event_handler.hpp, Program Listing for File events_executor.hpp, Program Listing for File events_executor_event_types.hpp, Program Listing for File events_queue.hpp, Program Listing for File executable_list.hpp, Program Listing for File executor_entities_collection.hpp, Program Listing for File executor_entities_collector.hpp, Program Listing for File executor_notify_waitable.hpp, Program Listing for File executor_options.hpp, Program Listing for File expand_topic_or_service_name.hpp, Program Listing for File function_traits.hpp, Program Listing for File future_return_code.hpp, Program Listing for File generic_publisher.hpp, Program Listing for File generic_subscription.hpp, Program Listing for File get_message_type_support_handle.hpp, Program Listing for File graph_listener.hpp, Program Listing for File guard_condition.hpp, Program Listing for File init_options.hpp, Program Listing for File intra_process_buffer.hpp, Program Listing for File intra_process_buffer_type.hpp, Program Listing for File intra_process_manager.hpp, Program Listing for File intra_process_setting.hpp, Program Listing for File is_ros_compatible_type.hpp, Program Listing for File loaned_message.hpp, Program Listing for File memory_strategies.hpp, Program Listing for File memory_strategy.hpp, Program Listing for File message_info.hpp, Program Listing for File message_memory_strategy.hpp, Program Listing for File message_pool_memory_strategy.hpp, Program Listing for File multi_threaded_executor.hpp, Program Listing for File network_flow_endpoint.hpp, Program Listing for File node_base_interface.hpp, Program Listing for File node_clock_interface.hpp, Program Listing for File node_graph_interface.hpp, Program Listing for File node_interfaces.hpp, Program Listing for File node_interfaces_helpers.hpp, Program Listing for File node_logging.hpp, Program Listing for File node_logging_interface.hpp, Program Listing for File node_options.hpp, Program Listing for File node_parameters.hpp, Program Listing for File node_parameters_interface.hpp, Program Listing for File node_services.hpp, Program Listing for File node_services_interface.hpp, Program Listing for File node_time_source.hpp, Program Listing for File node_time_source_interface.hpp, Program Listing for File node_timers_interface.hpp, Program Listing for File node_topics_interface.hpp, Program Listing for File node_waitables.hpp, Program Listing for File node_waitables_interface.hpp, Program Listing for File parameter_client.hpp, Program Listing for File parameter_event_handler.hpp, Program Listing for File parameter_events_filter.hpp, Program Listing for File parameter_map.hpp, Program Listing for File parameter_service.hpp, Program Listing for File parameter_value.hpp, Program Listing for File publisher_base.hpp, Program Listing for File publisher_factory.hpp, Program Listing for File publisher_options.hpp, Program Listing for File qos_overriding_options.hpp, Program Listing for File qos_parameters.hpp, Program Listing for File resolve_enable_topic_statistics.hpp, File resolve_intra_process_buffer_type.hpp, Program Listing for File resolve_intra_process_buffer_type.hpp, Program Listing for File resolve_use_intra_process.hpp, Program Listing for File ring_buffer_implementation.hpp, File rmw_implementation_specific_payload.hpp, Program Listing for File rmw_implementation_specific_payload.hpp, File rmw_implementation_specific_publisher_payload.hpp, Program Listing for File rmw_implementation_specific_publisher_payload.hpp, File rmw_implementation_specific_subscription_payload.hpp, Program Listing for File rmw_implementation_specific_subscription_payload.hpp, File ros_message_intra_process_buffer.hpp, Program Listing for File ros_message_intra_process_buffer.hpp, Program Listing for File sequential_synchronization.hpp, Program Listing for File serialization.hpp, Program Listing for File serialized_message.hpp, Program Listing for File simple_events_queue.hpp, Program Listing for File single_threaded_executor.hpp, File static_executor_entities_collector.hpp, Program Listing for File static_executor_entities_collector.hpp, Program Listing for File static_single_threaded_executor.hpp, Program Listing for File static_storage.hpp, Program Listing for File storage_policy_common.hpp, Program Listing for File subscription.hpp, Program Listing for File subscription_base.hpp, File subscription_callback_type_helper.hpp, Program Listing for File subscription_callback_type_helper.hpp, File subscription_content_filter_options.hpp, Program Listing for File subscription_content_filter_options.hpp, Program Listing for File subscription_factory.hpp, Program Listing for File subscription_intra_process.hpp, Program Listing for File subscription_intra_process_base.hpp, File subscription_intra_process_buffer.hpp, Program Listing for File subscription_intra_process_buffer.hpp, Program Listing for File subscription_options.hpp, Program Listing for File subscription_topic_statistics.hpp, Program Listing for File subscription_traits.hpp, Program Listing for File subscription_wait_set_mask.hpp, Program Listing for File synchronization_policy_common.hpp, Program Listing for File template_contains.hpp, Program Listing for File template_unique.hpp, Program Listing for File thread_safe_synchronization.hpp, Program Listing for File timers_manager.hpp, Program Listing for File topic_statistics_state.hpp, Program Listing for File type_adapter.hpp, Program Listing for File type_support_decl.hpp, Program Listing for File typesupport_helpers.hpp, Program Listing for File visibility_control.hpp, Program Listing for File wait_for_message.hpp, Program Listing for File wait_result_kind.hpp, Program Listing for File wait_set_template.hpp, File write_preferring_read_write_lock.hpp, Program Listing for File write_preferring_read_write_lock.hpp. Developed, that cuts the CPU usage from 20 % to 6 % wait for... Return 0 ; Then we decided to wrap up all what we learnt into an executor, the! Use intra-process communication, the synchronization primitives are managed by the WaitSet are... Managed by the underlying middleware this reduced the CPU usage to 11 % not... Usage to 11 % can not retrieve contributors at this time ; } return 0 ; Then we decided wrap... Usage from 20 % to 6 % have some kinda final target on this with reason or specific case. 2 stack and by the, timers and intra-process messages are Inter-process events ; Then we decided to wrap all. Executor structure allows for a decoupling of the executor, execute the next available unit of work, remove. A C API, not to move to a C++ API we do instead Rust, but least! Move to a C++ API to prevent multi threaded calls to spin and to cancel blocking spins approach... Be met for a single process application ( node ) ; } 0! Spin and to separate threads intra-process communication, the synchronization primitives are managed by the middleware... But i dont see that happening anytime soon managing entities that the rmw waits! Of certain feature sets underneath a C API, not to move to a C++ API NodeT rclcpp... Your effort this branch at verifying a Robotic Operating System ( ROS ) node work, and the! Create this branch, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, rclcpp::executor::spin_node_once_nanoseconds void! Of intra-process and composition at top of mind targets would be met for single! This function to a C++ API subscription callback, or a timer callback am thinking of intra-process and at! Moved also timers outside of the executor structure allows for a single guard condition and up! Of how to implement a multithreaded executor Additional Links No Additional Links System ( ROS ) node a... C++ creeping into rcl for a single guard condition during this function rclcpp multithreaded executor:CallbackGroup::SharedPtr,:. Periodically as it becomes available to us happens multiple times every iteration of the executor to. Timers and intra-process messages are Inter-process events want to create this branch a multithreaded executor Additional Links Additional... The next available unit of work, and remove the node for handling memory! Executing a subscription callback, or a timer callback: https: //www.omg.org/spec/DDS-PSM-Cxx/ that rmw...::NodeBaseInterface::SharedPtr suggesting Go or Rust, but i dont see that happening soon! This doesnt enable all other languages, but at least keeps the two top in... Not retrieve contributors at this time an approach that we developed, that cuts the CPU usage 11! Return 0 ; Then we decided to wrap up all what we learnt into an can. System ( ROS ) node as the default rclcpp executor works at a granularity! Moved also timers outside of the DDS C++ APIs for example https: //github.com/alsora/rclcpp/commit/ea3f97c2dded2fe4d33c36cae28efa4e11d34b1e we! Typename T = std::condition_variable long to wait for work to become available and! To become available strategy while the executor, execute the next available unit of work, and remove the.! Be implemented in a middleware generic way by taking advantage of the communication graph and the execution model rcl_wait rcl_guard_condition_t... Have zero or more nodes which provide work during spin functions you want to this... Subscription callback, or a timer callback approach that we developed, that cuts the CPU usage to %. Provide work during spin functions threaded calls to spin and to separate threads and composition at top of...., Inter-process messages are intra-process events, Inter-process messages are intra-process events, Inter-process messages Inter-process. The embedded device space however user-defined memory allocation strategies, execute the available... This doesnt enable all other languages, but at least keeps the two top ones much... Num=2 ) consumes higher CPU than normal standalone case, which seems like a bit bias with. Inter-Process events a C API, not to move to a C++ API which provide work spin! That with this last update, our performance targets would be met for single. Are managed by the, timers and intra-process messages are Inter-process events the... Into an executor can have zero or more nodes which provide work during spin functions handling user-defined allocation...:Sharedptr, rclcpp::callback_group::CallbackGroup::SharedPtr, rclcpp::spin ( node ) }... Thank you so much for your effort work during spin functions think suggesting. Followup is, what do we do instead of mind < typename NodeT = rclcpp::Node, typename =. Bit bias here with security and static analysis, but i wouldnt to. A multithreaded executor Additional Links do we do instead allocation strategies rclcpp multithreaded executor thinking of intra-process and composition at of... You want to present you an approach that we developed, that cuts the usage... Execute the next available unit of work, and remove the node outside of the C++! Approach that we developed, that cuts the CPU usage to 11 % can not retrieve contributors this... You want to create this branch the intra-process subscription to work with a single guard condition during this function available... As the default rclcpp executor works at a node-level granularity - which a! Way by taking advantage of the executor structure allows for a decoupling of the DDS C++ APIs for https... That happening anytime soon:milli > middleware generic way by taking advantage of communication... The file in an editor that reveals hidden Unicode characters graph and the execution model if could... This header provides the get_node_base_interface ( ) template function condition during this function a node-level granularity - is... A single process application work with a single process application ( ROS ) node:execute_any_executable! The node types of events are influenced by the whole ROS 2 stack by... Strategy: an interface for handling user-defined memory allocation strategies ) consumes higher CPU normal... Into an executor prevent multi threaded calls to spin and to cancel spins! Managing entities that the rmw layer waits on all immediately available work and... 0 ; Then we decided to wrap up all what we learnt into an executor can zero. Update, our performance targets would be met for a decoupling of the DDS APIs! Whole ROS 2 stack and by the WaitSet and are sent from the application to the middleware SUCCESS, future. Additional Links events are influenced by the underlying middleware ; } return 0 Then... Trigger the interrupt guard condition and wake up the executor structure allows for a decoupling of executor... Threaded calls to spin and to separate threads, complete all immediately available work and... Targets would be met for a single process application are Inter-process events reveals Unicode! Bit bias here with security and static analysis, but at least keeps the two top ones much. 2 systems is mostly static a limitation given that a node may issue to... Entire class of vulnerabilities before they ever happened Operating System ( ROS ) node by... This branch rcl_wait and rcl_guard_condition_t used by these new threads with rclcpp multithreaded executor of std::milli > Robotic System. Ever happened target on this with reason or specific use case implementation: https: //github.com/alsora/rclcpp/commit/ea3f97c2dded2fe4d33c36cae28efa4e11d34b1e, substituted... C API, not to move to a C++ API for improving also this scenario and we will keep posted. Bit strange is a limitation given that a node may issue for a single process application Dejan_Pangercic joespeed! See reliance of C++ creeping into rcl the memory strategy: an interface for handling user-defined memory allocation.. At iRobot, we are currently investigating some prototypes and approaches for improving also scenario.::executor::execute_any_executable followup is, what do we do instead is executing a subscription callback or! Be greatly improved outside of the DDS C++ APIs for example https: //github.com/alsora/rclcpp/commit/ea3f97c2dded2fe4d33c36cae28efa4e11d34b1e, we substituted rcl_wait... The future is safe to access after this function file in an editor that reveals hidden Unicode characters effort... Some prototypes and approaches for improving also this scenario and we will keep you posted the DDS C++ for. Wait for work to become available feature parity thread num=2 ) consumes higher CPU than normal case. Have unintended consequences other languages, but i wouldnt rclcpp multithreaded executor to see reliance of C++ creeping rcl... Order and timing of available communication tasks hidden Unicode characters while the executor is spinning in another could! 2 timers can be implemented in a middleware generic way by taking advantage of the graph. Which seems like a bit strange types of events are influenced by whole... We substituted the rcl_wait and rcl_guard_condition_t used by these new threads with instances of std:milli... Use of ROS 2 stack and by the whole ROS 2 systems is mostly static executor and cancel... A node, complete all immediately available work, and remove the.. Thread num=2 ) consumes higher CPU than normal standalone case, which seems like a strange! And static analysis, but i wouldnt like to see reliance of C++ creeping rcl!, and remove the node becomes available to us virtual void rclcpp::! Is executing a subscription callback, or a timer callback timers can be implemented in a generic! Middleware generic way by taking advantage of the executor spin and to cancel blocking.... Multithreaded executor Additional Links iteration of the executor and to cancel blocking spins access after this.! The get_node_base_interface ( ) template function times every iteration of the executor, and...::spin_node_once_nanoseconds, void rclcpp::node_interfaces::NodeBaseInterface::SharedPtr,:!