fix: Improved thread usage under congestion

[jmachowinski]

Description

Some improvements on thread wakeups

Fixes # (issue)

Is this user-facing behavior change?

no

Did you use Generative AI?

no

Additional Information

[fujitatomoya]

lgtm with minor comment.

[jmachowinski]

Pulls: #3258
Gist: https://gist.githubusercontent.com/jmachowinski/bfa008bb985c116479fb73b426176184/raw/9b3fe5a714100a7f913723ddb730dc6ad32652b9/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20348

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fujitatomoya]

i do not think windows failures are related, https://ci.ros2.org/job/ci_windows/29318/

[fujitatomoya]

@jmachowinski should we do backport this to downstream? i think that we can do that. this actually changes vtable that is technically ABI breaking change, but that is internal private header, so it should be no problem?

[jmachowinski]

@Mergifyio backport lyrical kilted jazzy

[mergify]

backport lyrical kilted jazzy

✅ Backports have been created

Details

• #3259 fix: Improved thread usage under congestion (backport #3258) has been created for branch lyrical
• #3260 fix: Improved thread usage under congestion (backport #3258) has been created for branch kilted but encountered conflicts

Cherry-pick of c36e550 has failed:

On branch mergify/bp/kilted/pr-3258
Your branch is up to date with 'origin/kilted'.

You are currently cherry-picking commit c36e550.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

• #3261 fix: Improved thread usage under congestion (backport #3258) has been created for branch jazzy but encountered conflicts

Cherry-pick of c36e550 has failed:

On branch mergify/bp/jazzy/pr-3258
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit c36e550.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/events_cbg_executor.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.cpp
	modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/first_in_first_out_scheduler.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rclcpp/src/rclcpp/executors/events_cbg_executor/scheduler.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally