API Changes. In this section, we describe the necessary changes to the Executor API: * include/rclcpp/callback_group.hpp: * Introduced an enum to distinguish up to three real-time classes (requirements) per node (Real * Changed association with Executor instance from nodes to callback groups. • include/rclcpp/executor.hpp • include/rclcpp/memory_strategy.hpp • include/rclcpp/node.hpp and include/rclcpp/node_interfaces/node_base.hpp The callback-group-level executor has been merged into ROS 2 rclcpp in pull request 1218.
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