set thread names by node in component container isolated (#2871)

Signed-off-by: Adam Aposhian <[email protected]>

Author: Aposhian

rclcpp_components/include/rclcpp_components/component_manager_isolated.hpp

@@ -22,9 +22,10 @@
 #include <utility>
 #include <vector>
 #include <unordered_map>
+#include <system_error>
 
 #include "rclcpp_components/component_manager.hpp"
-
+#include "rcpputils/thread_name.hpp"
 
 namespace rclcpp_components
 {
@@ -77,8 +78,16 @@ class ComponentManagerIsolated : public rclcpp_components::ComponentManager
     DedicatedExecutorWrapper & wrapper = result.first->second;
     wrapper.executor = exec;
     auto & thread_initialized = wrapper.thread_initialized;
+    auto name = node_wrappers_[node_id].get_node_base_interface()->get_name();
+    // Copy name so that it doesn't deallocate before the thread is started
     wrapper.thread = std::thread(
-      [exec, &thread_initialized]() {
+      [exec, &thread_initialized, name]() {
+        try {
+          rcpputils::set_thread_name(name);
+        } catch (const std::system_error & e) {
+          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set thread name: %s (%s)", e.what(),
+            e.code().message().c_str());
+        }
         thread_initialized = true;
         exec->spin();
       });