Hi Stereolabs team,
I noticed that in the zed_camera.launch.py file, the ComposableNodeContainer includes the --use_multi_threaded_executor flag:
arguments=['--ros-args', '--log-level', 'info', '--use_multi_threaded_executor']
However, in the zed_multi_camera.launch.py, the same container is created without this flag:
arguments=['--ros-args', '--log-level', 'info']
Since this launch file starts multiple ZED nodes in the same container, wouldn’t using a multi-threaded executor be more appropriate to improve performance and prevent callback blocking?
Additionally, I noticed that component_container_isolated is used as the executable instead of component_container_mt.
Is there a specific reason for choosing component_container_isolated and omitting --use_multi_threaded_executor in this context?
Thanks in advance!