use events exec instaed of single threded one

rclcpp/include/rclcpp/node_options.hpp

@@ -433,7 +433,7 @@ class NodeOptions
 
   bool start_parameter_services_ {true};
 
-  bool start_parameter_event_publisher_ {true};
+  bool start_parameter_event_publisher_ {false};
 
   rcl_clock_type_t clock_type_ {RCL_ROS_TIME};
 

rclcpp_components/CMakeLists.txt

@@ -14,6 +14,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   )
 endif()
 
+find_package(backward_ros REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(class_loader REQUIRED)

rclcpp_components/include/rclcpp_components/component_manager_isolated.hpp

@@ -24,12 +24,15 @@
 #include <unordered_map>
 
 #include "rclcpp_components/component_manager.hpp"
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
+
+using rclcpp::experimental::executors::EventsExecutor;
 
 
 namespace rclcpp_components
 {
 /// ComponentManagerIsolated uses dedicated single-threaded executors for each components.
-template<typename ExecutorT = rclcpp::executors::SingleThreadedExecutor>
+template<typename ExecutorT = EventsExecutor>
 class ComponentManagerIsolated : public rclcpp_components::ComponentManager
 {
   using rclcpp_components::ComponentManager::ComponentManager;

rclcpp_components/package.xml

@@ -16,6 +16,7 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <build_depend>backward_ros</build_depend>
   <build_depend>ament_index_cpp</build_depend>
   <build_depend>class_loader</build_depend>
   <build_depend>composition_interfaces</build_depend>

rclcpp_components/src/component_container_isolated.cpp

@@ -20,6 +20,10 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp_components/component_manager_isolated.hpp"
 
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
+
+using rclcpp::experimental::executors::EventsExecutor;
+
 int main(int argc, char * argv[])
 {
   /// Component container with dedicated single-threaded executors for each components.
@@ -33,15 +37,15 @@ int main(int argc, char * argv[])
     }
   }
   // create executor and component manager
-  auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  auto exec = std::make_shared<EventsExecutor>();
   rclcpp::Node::SharedPtr node;
   if (use_multi_threaded_executor) {
     using ComponentManagerIsolated =
       rclcpp_components::ComponentManagerIsolated<rclcpp::executors::MultiThreadedExecutor>;
     node = std::make_shared<ComponentManagerIsolated>(exec);
   } else {
     using ComponentManagerIsolated =
-      rclcpp_components::ComponentManagerIsolated<rclcpp::executors::SingleThreadedExecutor>;
+      rclcpp_components::ComponentManagerIsolated<EventsExecutor>;
     node = std::make_shared<ComponentManagerIsolated>(exec);
   }
   exec->add_node(node);