Branch multiple_nodes in system_tests, package test_rclcpp, illustrates this bug:
https://github.com/ros2/system_tests/tree/multiple_nodes
Case 1 fails:
node1 and node2 are both added to one executor.
node1 publishes "foo", node2 subscribes to "foo"
node2 publishes "bar", node2 subscribes to "bar"
Both publishers publish 5 times.
0/5 messages are received for both subscribers.
Case 2 passes:
one node publishes "foo", "bar", subscribes to "foo" and "bar"
Both publishers publish 5 times.
5/5 messages are received for both subscribers.
Case 3 passes:
node1 and node2 both added to one executor.
node1 publishes "foo", subscribes to "foo"
node2 publishes "bar", subscribes to "bar"
Both publishers publish 5 times.
5/5 messages are received for both subscribers.
Branch
multiple_nodesinsystem_tests, packagetest_rclcpp, illustrates this bug:https://github.com/ros2/system_tests/tree/multiple_nodes
Case 1 fails:
node1 and node2 are both added to one executor.
node1 publishes "foo", node2 subscribes to "foo"
node2 publishes "bar", node2 subscribes to "bar"
Both publishers publish 5 times.
0/5 messages are received for both subscribers.
Case 2 passes:
one node publishes "foo", "bar", subscribes to "foo" and "bar"
Both publishers publish 5 times.
5/5 messages are received for both subscribers.
Case 3 passes:
node1 and node2 both added to one executor.
node1 publishes "foo", subscribes to "foo"
node2 publishes "bar", subscribes to "bar"
Both publishers publish 5 times.
5/5 messages are received for both subscribers.