一文搞懂 ROS2 多线程调度：Timer、CallbackGroup 与 Executor一、SOP：从零建包到运行1. 建包cd~/ros2_ws/src ros2 pkg create my_executor_pkg --build-type ament_cmake --node-name executor_node2. 修改 package.xml?xml version="1.0"?packageformat="3"namemy_executor_pkg/nameversion0.0.1/versiondescriptionROS2 C++ Timer、多线程与 CallbackGroup 实战/descriptionmaintaineremail="user@example.com"user/maintainerlicenseApache-2.0/licensebuildtool_dependament_cmake/buildtool_dependdependrclcpp/dependdependstd_msgs/dependexportbuild_typeament_cmake/build_type/export/package3. 修改 CMakeLists.txtcmake_minimum_required(VERSION 3.8) project(my_executor_pkg) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() find_package