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ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
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ROS AsyncSpinner Example - The Robotics Back-End
Executors — ROS 2 Documentation: Foxy documentation
ROS2 from the Ground Up: Part 5- Concurrency, Executors and Callback Groups | by Jegathesan Shanmugam | Medium
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动手学ROS（7）：精讲多线程之MultiThreadedSpinner - 知乎
roscpp: ros::MultiThreadedSpinner Class Reference
Program-analysis-based Validation Infrastructure for ROS
Thread safe spinning with Mutex and boost::threads - ROS Answers: Open Source Q&A Forum
