roscpp multithreaded spinners eat up CPU when callbacks take too long · Issue #1545 · ros/ros_comm · GitHub
Several Ways of Writing a ROS Node - Yu Zhang's Homepage
ROS publisher queue, subscriber queue, callback queue and spinner threads tutorial | Level Up Coding
Thread safe spinning with Mutex and boost::threads - ROS Answers: Open Source Q&A Forum
ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
Making compatible two robotic middlewares: ROS and JdeRobot
Executors — ROS 2 Documentation: Foxy documentation
动手学ROS（7）：精讲多线程之MultiThreadedSpinner - 知乎
Concurrency and parallelism in ROS 1 and ROS 2: application APIs
ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
Get rid of service client nodes · Issue #816 · ros-planning/navigation2 · GitHub
ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
Concurrency and parallelism in ROS 1 and ROS 2: application APIs
ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
Program-analysis-based Validation Infrastructure for ROS
roscpp: spinner.h File Reference
ROS AsyncSpinner Example - The Robotics Back-End
roscpp: ros::Spinner Class Reference
动手学ROS（7）：精讲多线程之MultiThreadedSpinner - 知乎
roscpp: ros::MultiThreadedSpinner Class Reference
Multithreaded spinner · Issue #235 · mavlink/mavros · GitHub
ROS AsyncSpinner Example - The Robotics Back-End
ROS publisher queue, subscriber queue, callback queue and spinner threads tutorial | Level Up Coding
Single threaded spinner after multi-threaded ones in kinova driver · Issue #168 · Kinovarobotics/kinova-ros · GitHub
roscpp: ros::MultiThreadedSpinner Class Reference
Advanced Execution Management with ROS 2
