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SW-4859: enable having multiple components of same-type under same process #108

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Samahu
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@Samahu Samahu commented Apr 20, 2023

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Summary of Changes

  • Remove the use of static vars within sensor and cloud components

Validation

  • Test running two components of the same plugin type within the same container

@Samahu Samahu added the enhancement New feature or request label Apr 20, 2023
@Samahu Samahu self-assigned this Apr 20, 2023
@Samahu Samahu mentioned this pull request Apr 20, 2023
@Samahu Samahu marked this pull request as ready for review May 2, 2023 16:45
@Samahu Samahu merged commit 0363daf into ros2 May 2, 2023
@Aposhian
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Aposhian commented May 4, 2023

I'm testing this, and am just getting into a loop where the init id of one of two lidars keeps changing and it just keeps reactivating it.

@Aposhian
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Aposhian commented May 4, 2023

Nevermind: it was because I was setting the same ports for both lidars

@Samahu Samahu deleted the SW-4859-enable-having-multiple-components-of-same-type-under-same-process branch May 5, 2023 19:56
@Samahu
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Samahu commented May 5, 2023

I did verify it to work with two sensors one container before marking the PR as ready, also have verified using two cloud nodes on a single sensor with a single container.

@Aposhian
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Aposhian commented May 8, 2023

Yes I have also verified this to work.

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4 participants