Change callback group

[TheDelus]

There are some nodes (eg. image_proc/debayer) that could benefit from changing its default callback group from MutuallyExclusive to Reentrant. Is there a way to do this?

[mikeferguson]

Each of these are designed as a ROS2 component - it's my understanding that components are loaded with a single threaded executor, so I don't think changing the callback groups would do anything at this time?

[TheDelus]

As far as I know this depends on the used component_container. I am using the component_container_mt. I have created a local fork of the image_proc/debayer node and changed the callback group of the subscriber to Reentrant. It is running perfectly fine in parallel now. Would be nice to configure stuff like this.

[mikeferguson]

Wasn't aware of the alternate containers - that's cool. If you already have an example for updating one or more of the components - please open a PR