This function, wait_for_work which is in the rclcpp::Executor class:

• rclcpp/rclcpp/include/rclcpp/executor.hpp

  Line 167 in 860f478

  wait_for_work(bool nonblocking)

• TODO's:

  • rclcpp/rclcpp/include/rclcpp/executor.hpp

    Line 211 in 860f478

    // TODO: Avoid redundant malloc's

  • rclcpp/rclcpp/include/rclcpp/executor.hpp

    Line 233 in 860f478

    // TODO: Avoid redundant malloc's

repeatedly malloc's for temporary storage used in the ros_middleware_interface::wait function.

This could be avoided either by only allocating memory when resizing of the structures is required or by always using a structure of the maximum possible size (still would need to be updated when nodes are added or removed but less frequently) and ensuring that the ros_middleware_interface::wait function properly handles the extra, unused storage.