Barry Xu

Use `perf` to check CPU usage. Find It seems that extra cost is related to interrupt process. - One subscriber  - Multi-subscriber 

> One question though. Is this with the multi-threaded executor? Is there a difference between the single-threaded executor and the multi-threaded one? In above diagram, it use signle-threaded executor. If...

@MiguelCompany According to changed code, I think it can fix this problem. Fujita-san will provide final evaluation result in the real environment.

I just quick check. About test, whether incorrect configuration test need to be added ?

> I have tried without this PR (in local), but the error still exist. I run rcl test with latest codes in my local environment. Not find this problem. Commit...

@fujitatomoya According to current information, the problem is related to https://github.com/ros2/rclcpp/blob/8709146df87ab860c88f03a83f6df7d0347d0085/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp#L494 Here, shared pointer wasn't used. It is used in Executor::wait_for_work() without lock. It can be removed under the below...

I tried your code, but I cannot find segment fault. My test environment is based on ros2 Debian package (ros-humble-rclcpp 16.0.8-1jammy.20240217.065743).

> after all, i think what needs to be fixed is result_timeout should be applied against action completion time, for doing that we need to save action terminal state time(the...