The talk focuses on ROS 2’s Callback Groups feature. It explains the concept of callback groups and showcases their usage via simple example-cases. The focus is on how callback groups can and should be used to either restrict or allow parallel execution of callbacks in ROS 2 nodes, whenever one is running the node using a multi-threaded executor. Most crucially, the talk covers how callback groups should be set to avoid deadlocks in certain situations where they might otherwise occur.
The talk was given as part of 6th ROS Developers Day 2023 by Taneli Korhonen, a ROS developer at Karelics Oy.
