├── .github ├── ISSUE_TEMPLATE │ └── general-issue.md └── workflows │ └── ci.yml ├── .gitignore ├── 3rd-party-licenses.txt ├── CONTRIBUTING.md ├── LICENSE ├── NOTICE ├── README.md ├── codecov.yml ├── dependencies.repos ├── rclc ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile ├── QUALITY_DECLARATION.md ├── README.md ├── include │ └── rclc │ │ ├── action_client.h │ │ ├── action_goal_handle.h │ │ ├── action_server.h │ │ ├── client.h │ │ ├── executor.h │ │ ├── executor_handle.h │ │ ├── init.h │ │ ├── node.h │ │ ├── publisher.h │ │ ├── rclc.h │ │ ├── service.h │ │ ├── sleep.h │ │ ├── subscription.h │ │ ├── timer.h │ │ ├── types.h │ │ └── visibility_control.h ├── package.xml ├── png │ ├── cbg-executor_sample_system.png │ ├── cbg-executor_test-bench_architecture.png │ ├── cbg-executor_test-bench_results.png │ ├── cbg_executor_demo_plot.png │ ├── executor_class_diagram.png │ ├── executor_to_dds_sequence_diagram.png │ ├── fawkes_executor_diagram.png │ ├── highPriorityPath.png │ ├── meta-executor_concept.png │ ├── ping_pong_diagram.png │ ├── rclc_executor_multi_threaded.png │ ├── rclc_executor_sequential_execution.png │ ├── scheduling_01.png │ ├── scheduling_02.png │ ├── scheduling_LET.png │ ├── sensePlanActScheme.png │ ├── sensorFusion_01.png │ ├── sensorFusion_02.png │ ├── sensorFusion_03.png │ ├── trigger_01.png │ ├── trigger_ALL.png │ ├── trigger_ONE.png │ ├── trigger_OR.png │ └── trigger_user_defined.png ├── src │ └── rclc │ │ ├── action_client.c │ │ ├── action_client_internal.h │ │ ├── action_generic_types.h │ │ ├── action_goal_handle.c │ │ ├── action_goal_handle_internal.h │ │ ├── action_server.c │ │ ├── action_server_internal.h │ │ ├── client.c │ │ ├── executor.c │ │ ├── executor_handle.c │ │ ├── init.c │ │ ├── node.c │ │ ├── publisher.c │ │ ├── rcl_wait_set_is_valid_backport.c │ │ ├── rcl_wait_set_is_valid_backport.h │ │ ├── service.c │ │ ├── sleep.c │ │ ├── subscription.c │ │ └── timer.c └── test │ └── rclc │ ├── test_action_client.cpp │ ├── test_action_server.cpp │ ├── test_client.cpp │ ├── test_executor.cpp │ ├── test_executor_handle.cpp │ ├── test_init.cpp │ ├── test_node.cpp │ ├── test_publisher.cpp │ ├── test_service.cpp │ ├── test_subscription.cpp │ └── test_timer.cpp ├── rclc_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── package.xml └── src │ ├── example_action_client.c │ ├── example_action_server.c │ ├── example_client_node.c │ ├── example_executor.c │ ├── example_executor_only_rcl.c │ ├── example_executor_trigger.c │ ├── example_lifecycle_node.c │ ├── example_parameter_server.c │ ├── example_pingpong.cpp │ ├── example_pingpong_helper.c │ ├── example_pingpong_helper.h │ ├── example_service_node.c │ ├── example_short_timer_long_subscription.c │ └── example_sub_context.c ├── rclc_lifecycle ├── CHANGELOG.rst ├── CMakeLists.txt ├── Doxyfile ├── QUALITY_DECLARATION.md ├── README.md ├── include │ └── rclc_lifecycle │ │ ├── rclc_lifecycle.h │ │ └── visibility_control.h ├── package.xml ├── src │ └── 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